Implementation of the ROS 2 middleware interface using GurumNetworks GurumDDS. Installation guide is available here.
Required version of GurumDDS depends on the version of this project.
| rmw_gurumdds | GurumDDS |
|---|---|
| >= 5.0.0 | >= 3.2.0 |
| >= 3.6.0, < 5.0.0 | 3.1.x |
| >= 3.4.2, < 3.6.0 | 3.0.x |
| >= 3.3.0, < 3.4.2 | >= 2.8.3165, < 3.0.0 |
| 3.2.x | >= 2.8.3140, < 2.8.3165 |
| >= 3.1.2, < 3.2.0 | >= 2.8.0, < 2.8.3140 |
| <= 3.1.1 | 2.7.x |
gurumdds_cmake_module looks for GurumDDS, and provides the information to other packages.
For gurumdds_cmake_module to work properly, you need to set GURUMDDS_HOME environment variable to where GurumDDS is located.
If GurumDDS is normally installed through the debian package, GURUMDDS_HOME will be set automatically.
For example, if GURUMDDS_HOME=~/gurumdds is set, the directory ~/gurumdds will be:
gurumdds
├── include
│ └── gurumdds
│ ├── dcps.h
│ ├── dcpsx.h
│ ├── dds.h
│ ├── typesupport.h
│ └── xml.h
└── lib
└── libgurumdds.so
rmw_gurumdds_cpp is the rmw implementation. You can use this rmw implementation by setting environment variable RMW_IMPLEMENTATION=rmw_gurumdds_cpp after installation.
For rmw_gurumdds_cpp to work properly, make sure to set environment variable GURUMDDS_CONFIG=~/gurumdds.yaml and set allow_loopback variable in gurumdds.yaml to true.
gurumdds.yaml will be located in /etc/gurumnet/gurumdds if gurumdds is installed through the debian package.
Please note that YAML only supports spaces, not tabs, for indentation.
DATA:
allow_loopback: true
dynamic_buffer: true
mtu: auto # auto | number(1472)
bitmap_capacity: 256
buffer_capacity: 512
demo_nodes_cpp_natvie_gurumdds is similar to demo_nodes_cpp_native from ROS2 demos. This demo shows how to access the native handles of rmw_gurumdds_cpp.
This package is disabled by default.
There are three active branches in this project: rolling, jazzy, and humble.
New changes made in ROS2 repository will be applied to the rolling branch.
Following features are not fully implemented yet.
- DDS Security