https://github.com/rticommunity/rticonnextdds-connector-go

RTI Connector for Connext DDS is a lightweight technology that enables DDS data to be accessed with Go.
https://github.com/rticommunity/rticonnextdds-connector-go
dds golang golang-bindings rti-connector rti-connext-dds
Last synced: about 1 month ago
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RTI Connector for Connext DDS is a lightweight technology that enables DDS data to be accessed with Go.
Host: GitHub
URL: https://github.com/rticommunity/rticonnextdds-connector-go
Owner: rticommunity
License: other
Created: 2018-09-10T11:10:37.000Z (over 7 years ago)
Default Branch: master
Last Pushed: 2026-01-12T23:10:23.000Z (about 2 months ago)
Last Synced: 2026-01-13T02:45:59.594Z (about 2 months ago)
Topics: dds, golang, golang-bindings, rti-connector, rti-connext-dds
Language: C
Homepage:
Size: 138 MB
Stars: 35
Watchers: 9
Forks: 16
Open Issues: 3
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE.md
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README

          # RTI Connector for Connext DDS - Go

[![Coverage](https://img.shields.io/badge/coverage-90.1%25-brightgreen)](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml)

[![Go Report Card](https://goreportcard.com/badge/github.com/rticommunity/rticonnextdds-connector-go)](https://goreportcard.com/report/github.com/rticommunity/rticonnextdds-connector-go)

[![Build and Test](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml/badge.svg)](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml)

[![Go Version](https://img.shields.io/github/go-mod/go-version/rticommunity/rticonnextdds-connector-go)](https://github.com/rticommunity/rticonnextdds-connector-go/blob/master/go.mod)

[![Go Documentation](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go?status.svg)](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go)

> A lightweight, easy-to-use Go binding for RTI Connext DDS that enables rapid development of distributed applications.

## Table of Contents

- [Overview](#overview)

- [Key Features](#key-features)

- [Quick Start](#quick-start)

- [Installation](#installation)

- [Usage Examples](#usage-examples)

- [Platform Support](#platform-support)

- [Development](#development)

- [Documentation](#documentation)

- [Contributing](#contributing)

- [Support](#support)

## Overview

**RTI Connector** for Connext DDS is a lightweight, easy-to-use API that provides access to the power and functionality of [RTI Connext DDS](http://www.rti.com/products/index.html). Built on [XML-Based Application Creation](https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/manuals/connext_dds/xml_application_creation/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted.pdf) and Dynamic Data, it enables rapid prototyping and development of distributed applications.

Originally created by the RTI Research Group for demos and proof-of-concepts, RTI Connector is perfect for developers who need to quickly integrate DDS communication into their Go applications without the complexity of the full RTI Connext DDS Professional SDK.

## Key Features

✨ **Simple API** - Easy-to-use Go interface that hides DDS complexity  

🚀 **Rapid Development** - Get up and running with DDS in minutes  

🔄 **Dynamic Data** - No need to generate code from type definitions  

📄 **XML Configuration** - Define data types and QoS policies declaratively in XML  

🌐 **Cross-Platform** - Supports Linux x64, macOS, and Windows x64  

## Quick Start

### Prerequisites

- Go 1.21 or later

- Supported platform (Linux x64, macOS, Windows x64)

### Installation

1. **Create a new project directory and initialize a Go module:**

```bash

mkdir my-rti-project

cd my-rti-project

go mod init my-rti-project

```

2. **Get the Go package:**

```bash

go get github.com/rticommunity/rticonnextdds-connector-go

```

3. **Download RTI Connector libraries:**

```bash

go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest

```

4. **Set library path (for runtime):**

```bash

# macOS (Apple Silicon/ARM64) - v1.4.0+

export DYLD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/osx-arm64:$DYLD_LIBRARY_PATH

# macOS (Intel/x86_64) - requires v1.3.1

# go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1

export DYLD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/osx-x64:$DYLD_LIBRARY_PATH

# Linux  

export LD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/linux-x64:$LD_LIBRARY_PATH

# Windows (PowerShell)

$env:PATH = "$(pwd)\rticonnextdds-connector\lib\win-x64;$env:PATH"

```

> **💡 macOS Users**: Use `osx-arm64` for Apple Silicon Macs (M1/M2/M3). Intel Mac support (`osx-x64`) requires v1.3.1. Check your architecture with `uname -m` (arm64 = Apple Silicon, x86_64 = Intel).

> **💡 New to RTI Connector Go?** Try the [go-get-example](examples/go-get-example/) first - it provides a complete walkthrough of this installation process with a simple working example.

### Your First DDS Application

1. **Create an XML configuration file** (`ShapeExample.xml`):

```xml

  

    

  

  

  

    

      

      

      

      

    

  

  

  

    

      

      

    

  

  

  

    

      

        

      

      

        

      

    

  

```

2. **Create a publisher** (`publisher.go`):

```go

package main

import (

    "log"

    "time"

    

    rti "github.com/rticommunity/rticonnextdds-connector-go"

)

func main() {

    // Create connector

    connector, err := rti.NewConnector("MyParticipantLibrary::Zero", "./ShapeExample.xml")

    if err != nil {

        log.Fatal(err)

    }

    defer connector.Delete()

    // Get output (writer)

    output, err := connector.GetOutput("MyPublisher::MySquareWriter")

    if err != nil {

        log.Fatal(err)

    }

    // Publish data

    for i := 0; i < 10; i++ {

        output.Instance.SetString("color", "BLUE")

        output.Instance.SetInt("x", i*10)

        output.Instance.SetInt("y", i*20)

        output.Instance.SetInt("shapesize", 30)

        

        output.Write()

        log.Printf("Published sample %d", i)

        time.Sleep(time.Second)

    }

}

```

3. **Create a subscriber** (`subscriber.go`):

```go

package main

import (

    "log"

    

    rti "github.com/rticommunity/rticonnextdds-connector-go"

)

func main() {

    // Create connector

    connector, err := rti.NewConnector("MyParticipantLibrary::Zero", "./ShapeExample.xml")

    if err != nil {

        log.Fatal(err)

    }

    defer connector.Delete()

    // Get input (reader)

    input, err := connector.GetInput("MySubscriber::MySquareReader")

    if err != nil {

        log.Fatal(err)

    }

    // Read data

    log.Println("Waiting for data...")

    for {

        connector.Wait(-1) // Wait indefinitely for data

        input.Take()

        

        numSamples, _ := input.Samples.GetLength()

        for i := 0; i < numSamples; i++ {

            if valid, _ := input.Infos.IsValid(i); valid {

                color, _ := input.Samples.GetString(i, "color")

                x, _ := input.Samples.GetInt(i, "x")

                y, _ := input.Samples.GetInt(i, "y")

                shapesize, _ := input.Samples.GetInt(i, "shapesize")

                

                log.Printf("Received: color=%s, x=%d, y=%d, size=%d", color, x, y, shapesize)

            }

        }

    }

}

```

4. **Run your application:**

Make sure you've completed the installation steps above (including library download and path setup), then:

```bash

# Terminal 1 - Start subscriber

go run subscriber.go

# Terminal 2 - Start publisher  

go run publisher.go

```

You should see the subscriber receiving data published by the publisher!

## Library Management

The installation above uses our automated library download tool. For advanced scenarios, see our comprehensive guides:

- **[Library Management Documentation](docs/LIBRARY_MANAGEMENT.md)** - Complete guide to library installation options

- **[Go Get Users Guide](docs/GO_GET_USERS.md)** - Specific help for `go get` workflow

### Library Download Tool Options

```bash

# Download specific version

go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1

# Check what's currently installed

go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -current

# List available versions

go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -list

```

## Usage Examples

Explore our comprehensive examples to learn different patterns and use cases:

| Example | Description | Key Features |

|---------|-------------|--------------|

| [Simple](examples/simple/) | Basic publisher/subscriber | Getting started, basic data flow |

| [Go Get Example](examples/go-get-example/) | For `go get` users | Inline XML, library download workflow |

| [Shapes Demo](examples/array/) | Array data handling | Complex data types, arrays |

| [JSON Integration](examples/go_struct/) | Go struct mapping | JSON serialization, struct binding |

| [Request-Reply](examples/request_reply/) | RPC pattern | Synchronous communication |

| [Security](examples/security/) | Secure communication | Authentication, encryption |

| [Multiple Files](examples/module/) | Modular configuration | XML organization, reusability |

**📁 [Browse all examples →](examples/README.md)**

## Platform Support

RTI Connector supports the following platforms with automated CI testing:

| Platform | Architecture | CI Status | Notes |

|----------|-------------|-----------|-------|

| **Linux** | x86_64 | ✅ Tested on Ubuntu 22.04 (ubuntu-latest) | |

| **Linux** | ARM64 | ✅ Supported (libraries included) | |

| **macOS** | Apple Silicon (ARM64) | ✅ Tested on macos-latest | v1.4.0+ |

| **macOS** | Intel (x86_64) | ⚠️ Use v1.3.1 | Removed in v1.4.0 |

| **Windows** | x86_64 | ✅ Tested on Windows Server 2022 (windows-latest) | |

> 📝 **Note**: Starting with v1.4.0, Intel Mac (`osx-x64`) and 32-bit ARM Linux (`linux-arm`) support have been removed. If you need these platforms, use v1.3.1: `go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1`

### Version Information

To check the version of your installed RTI libraries:

```bash

go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -current

```

## Development

### Building and Testing

For contributors and developers working with the source code:

```bash

# Clone and setup

git clone https://github.com/rticommunity/rticonnextdds-connector-go.git

cd rticonnextdds-connector-go

make download-libs

# Run all tests with coverage

make test-local

# Run comprehensive test suite with quality checks

./test_improvements.sh

# Build all packages

go build ./...

# Run static analysis

go vet ./...

# Format code

go fmt ./...

```

### Threading Model

> ⚠️ **Important**: The Connector Native API does not implement thread safety. You are responsible for protecting calls to Connector in multi-threaded applications.

The native code was originally designed for single-threaded environments (RTI Prototyper and Lua). While we've added support for Go, Python, and JavaScript, thread safety remains the developer's responsibility.

## Documentation

- � **[API Reference](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go)** - Complete Go API documentation

- 📖 **[Examples](examples/README.md)** - Comprehensive examples and tutorials  

- 🧪 **[Testing Guide](TESTING.md)** - Development and testing guidelines

- 📚 **[Library Management](docs/LIBRARY_MANAGEMENT.md)** - Managing RTI Connector libraries

- 🚀 **[Go Get Users Guide](docs/GO_GET_USERS.md)** - Complete guide for `go get` users

- 🤝 **[Contributing](CONTRIBUTING.md)** - How to contribute to the project

### Additional Resources

- [RTI Connext DDS Documentation](https://community.rti.com/documentation)

- [XML-Based Application Creation Guide](https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/manuals/connext_dds/xml_application_creation/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted.pdf)

- [RTI Community Forum](https://community.rti.com/forums/technical-questions)

## Contributing

We welcome contributions! Here's how to get started:

1. **📝 [Sign the CLA](CONTRIBUTING.md)** - Required for all contributions

2. **🍴 Fork and clone** the repository

3. **🔧 Make your changes** with tests

4. **✅ Run quality checks**: `make test-local` or `./test_improvements.sh`

5. **📤 Submit a pull request**

All contributions are automatically tested for quality, including:

- Build verification across platforms

- Code linting and formatting  

- Comprehensive test suite validation

- Coverage analysis

## Support

### Getting Help

- 💬 **[RTI Community Forum](https://community.rti.com/forums/technical-questions)** - Technical questions and discussions

- 🐛 **[GitHub Issues](https://github.com/rticommunity/rticonnextdds-connector-go/issues)** - Bug reports and feature requests

- 📧 **[Contact RTI](mailto:sales@rti.com)** - Commercial support and licensing

---

**Ready to get started?** Check out our [Quick Start](#quick-start) guide or explore the [examples](examples/README.md)!
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