ROS 2 Middleware Implementation for GreenstoneSoft’s Swift DDS

rmw_swiftdds_cpp is a ROS 2 middleware implementation, providing an interface between ROS 2 and GreenstoneSoft’s Swift DDS middleware.

Getting started

This implementation is available in all ROS 2 distributions, both from binaries and from sources. You can specify Swift DDS as your ROS 2 middleware layer in two different ways:

1. Exporting RMW_IMPLEMENTATION environment variable:

    export RMW_IMPLEMENTATION=rmw_swiftdds_cpp
    

1. When launching your ROS 2 application:

    RMW_IMPLEMENTATION=rmw_swiftdds_cpp ros2 run <your_package> <your application>
    

Install SwiftDDS from apt(Ubuntu)

rmw_swiftdds_cpp depends on the installation of SwiftDDS, so SwiftDDS must be installed.

1. Install the registry signing key:

    curl -fsSL "https://packages.buildkite.com/greenstonetechnology/swiftdds-deb/gpgkey" | sudo gpg --dearmor -o /etc/apt/keyrings/greenstonetechnology_swiftdds-deb-archive-keyring.gpg
    

1. Configure the source:

    echo -e "deb [signed-by=/etc/apt/keyrings/greenstonetechnology_swiftdds-deb-archive-keyring.gpg] https://packages.buildkite.com/greenstonetechnology/swiftdds-deb/any/ any main\ndeb-src [signed-by=/etc/apt/keyrings/greenstonetechnology_swiftdds-deb-archive-keyring.gpg] https://packages.buildkite.com/greenstonetechnology/swiftdds-deb/any/ any main" | sudo tee /etc/apt/sources.list.d/buildkite-greenstonetechnology-swiftdds-deb.list > /dev/null
    

1. Run the installation command:

    sudo apt update && sudo apt install greenstone-swift-dds
    

Remove SwiftDDS from apt

1. Run the uninstall command:

    sudo apt remove greenstone-swift-dds
    

Install SwiftDDS from dnf(RHEL)

1. Registry Configuration:

    echo -e "[swiftdds-rpm]\nname=swiftdds_rpm\nbaseurl=https://packages.buildkite.com/greenstonetechnology/swiftdds-rpm/rpm_any/rpm_any/\$basearch\nenabled=1\nrepo_gpgcheck=1\ngpgcheck=0\ngpgkey=https://packages.buildkite.com/greenstonetechnology/swiftdds-rpm/gpgkey\npriority=1" | sudo tee /etc/yum.repos.d/swiftdds-rpm.repo > /dev/null
    

1. Run the installation command:

    sudo dnf update && sudo dnf install GreenStone-Swift-DDS
    

Remove SwiftDDS from dnf

1. Run the uninstall command:

    sudo dnf remove GreenStone-Swift-DDS
    

Install SwiftDDS from pixi(Windows 10/11)

1. Install pixi

    irm https://pixi.sh/install.ps1 | iex
    pixi --version
    

1. Install SwiftDDS Add the “greenstone” parameter to the channels field in pixi.toml.

    [workspace]
    name = "pixi_ros2_rolling"
    version = "0.1.0"
    description = "Dependencies to build ROS 2 on Windows"
    authors = ["Chris Lalancette <clalancette@gmail.com>"]
    channels = ["conda-forge", "greenstone"]
    platforms = ["win-64"]
    

    pixi add greenstone-swift-dds
    

Remove SwiftDDS from pixi

1. Run the uninstall command

   pixi remove greenstone-swift-dds
   

Install rmw_swiftdds_cpp from source code

1. Clone rmw_swiftdds_cpp in the ROS 2 workspace source directory(e.g. ros2_ws).

    cd ~/ros2_ws/src
    git clone https://github.com/greenstonesoft/rmw_swiftdds
    cd rmw_swiftdds
    git checkout -b rolling origin/rolling
    

1. Install necessary packages for rmw_swiftdds_cpp.

    cd ~/ros2_ws
    rosdep update
    rosdep install --from src -i
    

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