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https://github.com/ros2/rmw_cyclonedds
ROS 2 RMW layer for Eclipse Cyclone DDS
https://github.com/ros2/rmw_cyclonedds
Last synced: 7 days ago
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ROS 2 RMW layer for Eclipse Cyclone DDS
- Host: GitHub
- URL: https://github.com/ros2/rmw_cyclonedds
- Owner: ros2
- License: apache-2.0
- Created: 2018-07-09T11:19:43.000Z (over 6 years ago)
- Default Branch: rolling
- Last Pushed: 2024-07-29T08:10:27.000Z (6 months ago)
- Last Synced: 2024-08-04T00:05:22.703Z (5 months ago)
- Language: C++
- Homepage:
- Size: 1.03 MB
- Stars: 110
- Watchers: 33
- Forks: 90
- Open Issues: 64
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Codeowners: CODEOWNERS
Awesome Lists containing this project
README
# ROS 2 RMW for Eclipse Cyclone DDS
**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).
This 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.
Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most robust ROS 2 experience. Let the Cyclone blow you away!
1. Install:
```
apt install ros-eloquent-rmw-cyclonedds-cpp
```
or
```
apt install ros-dashing-rmw-cyclonedds-cpp
```
2. Set env variable and run ROS 2 apps as usual:
```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```
3. Confirm RMW: In Eloquent and later, to confirm which RMW you're using:
```ros2 doctor --report```
## Performance recommendations
With 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:
* Temporarily (until reboot): `sudo sysctl -w net.core.rmem_max=8388608 net.core.rmem_default=8388608`
* Permanently: `echo "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf`
## Debugging
So 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)!
The `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.
If you're having trouble with nodes discovering others or can't use multicast *at all* on your network setup, you can circumvent discovery:
`export CYCLONEDDS_URI='>>'`
Here are some ways to generate additional debugging info that can help identify the problem faster, and are helpful on an issue ticket:
* Configure Cyclone to create richer debugging output:
* To see the output live:
`export CYCLONEDDS_URI='trace>stderr>>'`
* To send to `/var/log/`:
`export CYCLONEDDS_URI='trace>/var/log/cyclonedds.${CYCLONEDDS_PID}.log>>'`
* Create a Wireshark capture:
`wireshark -k -w wireshark.pcap.gz`
## Building from source and contributing
The following branches are actively maintained:
* `master`, which targets the upcoming ROS version, [*Foxy*](https://docs.ros.org/en/rolling/Releases/Release-Foxy-Fitzroy.html)
* `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)
If building ROS 2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:
cd /opt/ros/master
rosdep install --from src -i
colcon build
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
## Quality Declaration
This package claims to be in the **Quality Level 2** category, see the [Quality Declaration](./rmw_cyclonedds_cpp/QUALITY_DECLARATION.md) for more details.