rmw_gurumdds

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

Requirements

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

rmw_gurumdds	GurumDDS
4.1.0 or higher	higher than 2.8.3165
4.0.0 or higher	2.8.3140 or higher

Packages

This project consists of three packages, gurumdds_camke_module, rmw_gurumdds_cpp and demo_nodes_cpp_native_gurumdds.

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.
If you are not familiar with YAML, 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

rmw_gurumdds_shared_cpp

rmw_gurumdds_shared_cpp contains some functions used by rmw_gurumdds_cpp.
This package was integrated into rmw_gurumdds_cpp.

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: master, humble and foxy.
New changes made in ROS2 repository will be applied to the master branch, so this branch might be unstable.
If you want to use this project with ROS2 Humble Hawksbill or Foxy Fitzroy, please use humble or foxy branch, respectively.

Implementation Status

Currently some features are not fully implemented.

• DDS Security