dodsonmg / rmw_cyclonedds

ROS2 RMW layer for Eclipse Cyclone DDS

ROS2 RMW for Eclipse Cyclone DDS

Easy, fast, reliable, small Eclipse Cyclone DDS middleware for ROS2. Make your 🐢 run like a 🚀 Eclipse Cyclone DDS has great adopters and contributors in the ROS community and is an Eclipse Foundation open source project of Eclipse IoT and OpenADx (autonomous driving).

This package lets ROS2 use Eclipse Cyclone DDS as the underlying DDS implementation. Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most robust ROS2 experience. Let the Cyclone blow you away!

1. Install:

apt install ros-eloquent-rmw-cyclonedds-cpp

or

apt install ros-dashing-rmw-cyclonedds-cpp

2. Set env variable and run ROS2 apps as usual:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

3. Confirm RMW: In Eloquent, to confirm which RMW you're using:

   ros2 doctor --report

Building from source and contributing

Note the master branch maintains compatibility with ROS releases Dashing and later, including the not-yet-released Foxy.

If building ROS2 from source (ros2.repos), you already have this package and Cyclone DDS:

cd /opt/ros/master
rosdep install --from src -i
colcon build
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp