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ROS will use the profile with the is_default_qos="true" attribute.

url_profile and string_profile cannot be used. QoS profiles can be specified in XML according to the load order specified here. Refer to the Install DDS Implementations page for details on building rmw_connext for your platform. Note that the RTI website has Free Trial offers, but these are typically for the most-current version of RTI Connext DDS (6.0.1 as of this writing), which does not build with this implementation of rmw_connext. This implementation of rmw_connext requires version 5.3.1 of RTI Connext DDS, which can be obtained through the RTI University Program, purchase, or as an evaluation. Other platforms must be built from source, using a separately-installed copy of RTI Connext DDS. Pre-built binaries for RTI Connext DDS are available for x86_64 (Debian/Ubuntu) Linux platform using the steps outlined in the ROS2 installation wiki, available under a non-commercial license. Set RMW_IMPLEMENTATION=rmw_connext_cpp Binary Installation RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run rviz2 rviz2 Or prepend on ROS2 command line, such as:

To use rmw_connext with ROS2 applications, set the environment variable RMW_IMPLEMENTATION=rmw_connext_cpp and run your ROS2 applications as usual:Įxport RMW_IMPLEMENTATION=rmw_connext_cpp This rmw implementation will be supported until the end-of-life of the ROS distributions it is available in (ROS 2 Dashing and Foxy). Rmw_connextdds is included in ROS 2 releases starting with Galactic. Several performance issues that are present in this implementation. This new implementation wasĭeveloped by RTI in collaboration with the ROS 2 community, and it resolves Is a new RMW implementation for RTI Connext DDS, which supersedes the oneĬontained in this repository ( rmw_connext_cpp). Implementation of the ROS Middleware (rmw) Interface using RTI's Connext DDS.