Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2021-01-12 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rmw_fastrtps_cpp | 1.2.4 |
rmw_fastrtps_dynamic_cpp | 1.2.4 |
rmw_fastrtps_shared_cpp | 1.2.4 |
README
ROS 2 Middleware Implementation for eProsima's Fast-RTPS
rmw_fastrtps
constitutes ROS 2 default middleware implementation, providing an interface between ROS 2 and eProsima's Fast-RTPS middleware.
Getting started
This implementation is available in all ROS 2 distributions, both from binaries and from sources. You do not need to do anything in order to use Fast-RTPS as your ROS 2 middleware layer (since it is the default implementation). However, you can still specify it in two different ways:
- Exporting
RMW_IMPLEMENTATION
environment variable:
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- When launching your ROS 2 application:
RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run <your_package> <your application>
Two different RMW implementations
rmw_fastrtps
actually provides not one but two different ROS 2 middleware implementations, both of them using Fast-RTPS as middleware layer: rmw_fastrtps_cpp
and rmw_fastrtps_dynamic_cpp
(note that directory rmw_fastrtps_shared_cpp
just contains the code that the two implementations share, and does not constitute a layer on its own).
The main difference between the two is that rmw_fastrtps_dynamic_cpp
uses introspection typesupport at run time to decide on the serialization/deserialization mechanism.
On the other hand, rmw_fastrtps_cpp
uses its own typesupport, which generates the mapping for each message type at build time.
Mind that the default ROS 2 RMW implementation is rmw_fastrtps_cpp
.
You can however set it to rmw_fastrtps_dynamic_cpp
using the environment variable RMW_IMPLEMENTATION
as described above.
Advance usage
rmw_fastrtps
sets some of the Fast-RTPS configurable parameters:
* History memory policy: PREALLOCATED_WITH_REALLOC_MEMORY_MODE
* Publication mode: ASYNCHRONOUS_PUBLISH_MODE
However, it is possible to fully configure Fast-RTPS (including the history memory policy and the publication mode) using an XML file as described in Fast-RTPS documentation.
Then, you just need to set environment variable RMW_FASTRTPS_USE_QOS_FROM_XML
to 1 (it is set to 0 by default).
This tells rmw_fastrtps
that it should not override neither the history memory policy nor the publication mode.
You have two ways of telling you ROS 2 application which XML to use:
1. Placing your XML file in the running directory under the name DEFAULT_FASTRTPS_PROFILES.xml
.
2. Setting environment variable FASTRTPS_DEFAULT_PROFILES_FILE
to your XML file.
Example
The following example configures Fast-RTPS to publish synchronously, and to have a pre-allocated history that can be expanded whenever it gets filled.
- Create a Fast-RTPS XML file with:
<?xml version="1.0" encoding="UTF-8"?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<profiles>
<publisher profile_name="publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>SYNCHRONOUS</kind>
</publishMode>
</qos>
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
</publisher>
<subscriber profile_name="subscriber profile" is_default_profile="true">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
</subscriber>
</profiles>
</dds>
- Run the talker/listener ROS 2 demo:
- In one terminal
FASTRTPS_DEFAULT_PROFILES_FILE=<path_to_xml_file> RMW_FASTRTPS_USE_QOS_FROM_XML=1 RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run demo_nodes_cpp talker
1. In another terminal
FASTRTPS_DEFAULT_PROFILES_FILE=<path_to_xml_file> RMW_FASTRTPS_USE_QOS_FROM_XML=1 RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 run demo_nodes_cpp listener
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2020-11-24 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rmw_fastrtps_cpp | 0.7.8 |
rmw_fastrtps_dynamic_cpp | 0.7.8 |
rmw_fastrtps_shared_cpp | 0.7.8 |
README
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | ardent |
Last Updated | 2017-12-09 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
fastrtps_cmake_module | 0.4.0 |
rmw_fastrtps_cpp | 0.4.0 |
README
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | bouncy |
Last Updated | 2018-06-28 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
fastrtps_cmake_module | 0.5.1 |
rmw_fastrtps_cpp | 0.5.1 |
README
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | crystal |
Last Updated | 2019-03-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rmw_fastrtps_cpp | 0.6.2 |
rmw_fastrtps_dynamic_cpp | 0.6.2 |
rmw_fastrtps_shared_cpp | 0.6.2 |
README
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros2/rmw_fastrtps.git |
VCS Type | git |
VCS Version | eloquent |
Last Updated | 2020-12-04 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rmw_fastrtps_cpp | 0.8.2 |
rmw_fastrtps_dynamic_cpp | 0.8.2 |
rmw_fastrtps_shared_cpp | 0.8.2 |
README
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).