middleware/ros2-rmw-fastrtps
ROS2 Middleware interface using Fast RTPS
- Directory:
- middleware/ros2-rmw-fastrtps (package's history)
- Package version:
- ros2-rmw-fastrtps-6.2.1
- Home page:
- https://github.com/rmw_fastrtps/
- License:
- apache-2.0
- Source archive:
- Description:
- rmw_fastrtps actually provides not one but two different ROS 2 middleware implementations, both of them using Fast DDS as middleware layer: rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp (note that directory rmw_fastrtps_shared_cpp just contains the code that the two implementations share, and does not constitute a layer on its own). The main difference between the two is that rmw_fastrtps_dynamic_cpp uses introspection typesupport at run time to decide on the serialization/deserialization mechanism. On the other hand, rmw_fastrtps_cpp uses its own typesupport, which generates the mapping for each message type at build time. Mind that the default ROS 2 RMW implementation is rmw_fastrtps_cpp. You can however set it to rmw_fastrtps_dynamic_cpp using the environment variable RMW_IMPLEMENTATION.
- Run dependencies:
- fastcdr>=1, fastrtps>=1, libstdc++, py36-ament-package>=0, py36-importlib-metadata, py36-importlib-resources, ros2-rcpputils>=0, ros2-rmw-dds-common>=0, ros2-ros-workspace>=0, ros2-tracing>=0, tinyxml2>=2
- Build dependencies:
- ament-cmake>=0, ament-cmake-ros>=0, cmake>=2.6, digest>=20080510, foonathan-memory>=0, g++>=3, gcc>=3, pax, pkg_install>=20110805.12, python36>=3.6<3.7, tnftp>=20130505~ssl
- General options:
- c++-compiler alternatives:
- c-compiler alternatives:
- python alternatives: