https://github.com/opendds/rmw_opendds

ROS-2 support for OpenDDS
https://github.com/opendds/rmw_opendds

Last synced: 3 months ago
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ROS-2 support for OpenDDS

• Host: GitHub
• URL: https://github.com/opendds/rmw_opendds
• Owner: OpenDDS
• License: apache-2.0
• Created: 2018-07-25T18:24:02.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2024-04-07T12:41:31.000Z (almost 2 years ago)
• Last Synced: 2025-07-08T22:22:45.560Z (6 months ago)
• Language: C++
• Size: 579 KB
• Stars: 7
• Watchers: 9
• Forks: 10
• Open Issues: 9
• Metadata Files:
  • Readme: readme.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

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README

          

# OpenDDS ROS2 Middleware

This project contains a work-in-progress implementation of the ROS2 Middleware Interface (**RMW**) using [OpenDDS](https://github.com/objectcomputing/OpenDDS).

## Packages

This project contains several ROS2 packages:

- `rmw_opendds`: composed of (this repo)

  - `rmw_opendds_cpp`: Responsible for binding the ROS2 `rmw.h` interface functions to the equivalent OpenDDS functions.

- `rosidl_typesupport_opendds`: composed of (https://github.com/oci-labs/rosidl_typesupport_opendds)

  - `opendds_cmake_module`: Responsible for configuring paths to the TAO/OpenDDS IDL processors and headers.

  - `rosidl_typesupport_opendds_c`: Responsible for generating OpenDDS C headers based on the OMG IDLs produced by ROS2 preprocessors.

  - `rosidl_typesupport_opendds_cpp`: Responsible for generating OpenDDS C++ headers based on the OMG IDLs produced by ROS2 preprocessors.

These packages are built using ROS2's `Colcon` build tool. `rosidl_typesupport_c` and `rosidl_typesupport_cpp` are almost identical, but must be provided as separate packages in order to satisfy the build-time requirements of the ROS2 demo projects.

## Usage

See https://github.com/oci-labs/rmw_build/blob/master/README.md for details on how to build and run this repo.