{"id":20099095,"url":"https://github.com/ros2/rmw_cyclonedds","last_synced_at":"2025-03-17T15:13:02.135Z","repository":{"id":35407800,"uuid":"140275110","full_name":"ros2/rmw_cyclonedds","owner":"ros2","description":"ROS 2 RMW layer for Eclipse Cyclone DDS","archived":false,"fork":false,"pushed_at":"2024-07-29T08:10:27.000Z","size":1081,"stargazers_count":110,"open_issues_count":64,"forks_count":90,"subscribers_count":33,"default_branch":"rolling","last_synced_at":"2024-08-04T00:05:22.703Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ros2.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":"CODEOWNERS","security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-07-09T11:19:43.000Z","updated_at":"2024-08-04T00:05:31.132Z","dependencies_parsed_at":"2024-01-05T20:58:30.458Z","dependency_job_id":"c00050c2-c001-4252-8f2e-efcd6ea93760","html_url":"https://github.com/ros2/rmw_cyclonedds","commit_stats":null,"previous_names":["atolab/rmw_cyclonedds"],"tags_count":78,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_cyclonedds","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_cyclonedds/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_cyclonedds/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ros2%2Frmw_cyclonedds/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ros2","download_url":"https://codeload.github.com/ros2/rmw_cyclonedds/tar.gz/refs/heads/rolling","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244056425,"owners_count":20390719,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T17:08:10.776Z","updated_at":"2025-03-17T15:13:02.116Z","avatar_url":"https://github.com/ros2.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ROS 2 RMW for Eclipse Cyclone DDS\n\n**Easy, fast, reliable, small [Eclipse Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) Tier 1 ROS middleware** for ROS 2. Make your **🐢 run like a 🚀** [Eclipse Cyclone DDS has great adopters](https://iot.eclipse.org/adopters/) and contributors in the ROS community and is an [Eclipse Foundation](https://www.eclipse.org) open source project of [Eclipse IoT](https://iot.eclipse.org) and [OpenADx](https://openadx.eclipse.org) (autonomous driving).\n\nThis package lets [*ROS 2*](https://docs.ros.org/en/rolling/) use [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS implementation.\nCyclone DDS is ready to use. It seeks to give the fastest, easiest, and most robust ROS 2 experience. Let the Cyclone blow you away!\n\n1. Install:\n\n   ```\n   apt install ros-eloquent-rmw-cyclonedds-cpp\n   ```\n   or\n   ```\n   apt install ros-dashing-rmw-cyclonedds-cpp\n   ```\n\n2. Set env variable and run ROS 2 apps as usual:\n\n   ```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```\n\n3. Confirm RMW: In Eloquent and later, to confirm which RMW you're using:\n\n   ```ros2 doctor --report```\n\n\n## Performance recommendations\n\nWith large samples (100s of kilobytes), excessive latency can be caused by running out of space in the OS-level receive buffer. For this reason, on Linux, we recommend increasing the buffer size:\n* Temporarily (until reboot): `sudo sysctl -w net.core.rmem_max=8388608 net.core.rmem_default=8388608`\n* Permanently: `echo \"net.core.rmem_max=8388608\\nnet.core.rmem_default=8388608\\n\" | sudo tee /etc/sysctl.d/60-cyclonedds.conf`\n\n## Debugging\n\nSo Cyclone isn't playing nice or not giving you the performance you had hoped for? That's not good... Please [file an issue against this repository](https://github.com/ros2/rmw_cyclonedds/issues/new)!\n\nThe `ddsperf` tool distributed with Cyclone DDS can be used to check that communication works *without* ROS. Run `ddsperf sanity` on two different machines - if the \"mean\" value is above `100000us`, there are likely network issues.\n\nIf you're having trouble with nodes discovering others or can't use multicast *at all* on your network setup, you can circumvent discovery:\n\n  `export CYCLONEDDS_URI='\u003cDiscovery\u003e\u003cPeers\u003e\u003cPeer Address='myroshost.local' /\u003e\u003cPeer Address='myroshost2.local' /\u003e\u003c/\u003e\u003c/\u003e'`\n\nHere are some ways to generate additional debugging info that can help identify the problem faster, and are helpful on an issue ticket:\n\n* Configure Cyclone to create richer debugging output:\n\n  * To see the output live:\n\n    `export CYCLONEDDS_URI='\u003cTracing\u003e\u003cVerbosity\u003etrace\u003c/\u003e\u003cOut\u003estderr\u003c/\u003e\u003c/\u003e'`\n\n  * To send to `/var/log/`:\n\n    `export CYCLONEDDS_URI='\u003cTracing\u003e\u003cVerbosity\u003etrace\u003c/\u003e\u003cOut\u003e/var/log/cyclonedds.${CYCLONEDDS_PID}.log\u003c/\u003e\u003c/\u003e'`\n\n* Create a Wireshark capture:\n\n  `wireshark -k -w wireshark.pcap.gz`\n\n## Building from source and contributing\n\nThe following branches are actively maintained:\n\n* `master`, which targets the upcoming ROS version, [*Foxy*](https://docs.ros.org/en/rolling/Releases/Release-Foxy-Fitzroy.html)\n* `dashing-eloquent`, which maintains compatibility with ROS releases [*Dashing*](https://docs.ros.org/en/rolling/Releases/Release-Dashing-Diademata.html) and [*Eloquent*](https://docs.ros.org/en/rolling/Releases/Release-Eloquent-Elusor.html)\n\nIf building ROS 2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:\n\n    cd /opt/ros/master\n    rosdep install --from src -i\n    colcon build\n    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\n## Quality Declaration\n\nThis package claims to be in the **Quality Level 2** category, see the [Quality Declaration](./rmw_cyclonedds_cpp/QUALITY_DECLARATION.md) for more details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Frmw_cyclonedds","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fros2%2Frmw_cyclonedds","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fros2%2Frmw_cyclonedds/lists"}