rmw_gurumdds

Implementation of the ROS 2 middleware interface using GurumNetworks GurumDDS. Installation guide is available here.

Requirements

Required version of GurumDDS depends on the version of this project.

rmw_gurumdds	GurumDDS
>= 6.0.0	>= 3.2.9
>= 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

Packages

gurumdds_cmake_module

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

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_native_gurumdds

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.

Branches

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.

Implementation Status

Following features are not fully implemented yet.

• DDS Security