From 164ed9515bcefcb565a9cb8f647b55bc6dee1b5b Mon Sep 17 00:00:00 2001 From: Juan Carlos Chaves Puertas Date: Tue, 1 Apr 2025 17:06:46 +0200 Subject: [PATCH 1/4] #177: change depend to 7.3.0, TODO documentatation. --- rti_connext_dds_cmake_module/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rti_connext_dds_cmake_module/package.xml b/rti_connext_dds_cmake_module/package.xml index bdfdf4a9..dc3fdbe0 100644 --- a/rti_connext_dds_cmake_module/package.xml +++ b/rti_connext_dds_cmake_module/package.xml @@ -10,7 +10,7 @@ ament_cmake ament_cmake - rti-connext-dds-6.0.1 + rti-connext-dds-7.3.0 ament_lint_auto ament_lint_common From fbf3222b1cbfa7616d4e2ac9cbeac3a7b80031ff Mon Sep 17 00:00:00 2001 From: Juan Carlos Chaves Puertas Date: Fri, 4 Apr 2025 21:23:00 +0200 Subject: [PATCH 2/4] 177: minor changes on README to match 7.3.0 update, mark rmw_connextddsmicro deprecated --- README.md | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/README.md b/README.md index 4d36a475..872bd34f 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,14 @@ # ROS 2 Middleware Layer for RTI Connext DDS -This repository contains two novel implementations of the [ROS 2](https://docs.ros.org/en/rolling) +This repository contains a implementation of the [ROS 2](https://docs.ros.org/en/rolling) RMW layer which allow developers to deploy their ROS applications on top of [RTI Connext DDS Professional](https://www.rti.com/products/connext-dds-professional) -and [RTI Connext DDS Micro](https://www.rti.com/products/connext-dds-micro). The repository provides two RMW packages: - `rmw_connextdds` -- `rmw_connextddsmicro` +- `rmw_connextddsmicro` (deprecated) Package `rmw_connextdds` is meant to be a replacement for [`rmw_connext_cpp`](https://github.com/ros2/rmw_connext). This new implementation resolves several performance issues, and it improves out-of-the-box @@ -20,7 +19,7 @@ active development. Please consider reporting any [issue](https://github.com/rticommunity/rmw_connextdds/issues) that you may experience, while monitoring the repository for frequent updates.* -For any questions or feedback, feel free to reach out to robotics@rti.com. +For any questions or feedback, feel free to reach out to rti-ros-team@rti.com. ## Quick Start @@ -34,11 +33,11 @@ For any questions or feedback, feel free to reach out to robotics@rti.com. 2. Configure RTI Connext DDS Professional and/or RTI Connext DDS Micro on your system (see [Requirements](#rti-connext-dds-requirements)). Make the installation(s) available via environment variables, e.g. by using the provided - `rtisetenv_.bash` script (replace `~/rti_connext_dds-6.0.1` with + `rtisetenv_.bash` script (replace `~/rti_connext_dds-7.3.0` with the path of your Connext installation): ```sh - source ~/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash + source ~/rti_connext_dds-7.3.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash export CONNEXTDDS_DIR=${NDDSHOME} ``` @@ -85,7 +84,7 @@ release: |ROS 2 Release|Branch|Status| |-------------|------|------| |Rolling |`rolling`|Developed| -|Iron |`iron`|Supported until November 2024| +|Iron |`iron`|Supported until November 2024 (EOL)| |Humble |`humble`|Supported until May 2027| |Galactic |`galactic`|Supported until November 2022 (EOL)| |Foxy |`foxy`|Supported until May 2023 (EOL)| @@ -111,8 +110,8 @@ valid installation is detected, the packages will be skipped and not be built. |RMW|RTI Product|Environment Variable(s)|Required|Default| |---|-----------|-----------------------|--------|-------| -|`rmw_connextdds`|RTI Connext DDS Professional 5.3.1, or 6.x|`CONNEXTDDS_DIR`, or `NDDSHOME`|Yes|None| -|`rmw_connextddsmicro`|RTI Connext DDS Micro 3.x |`RTIMEHOME`|No (if RTI Connext DDS Professional 6.x is available)|Guessed from contents of RTI Connext DDS Professional installation (6.x only, 5.3.1 users must specify `RTIMEHOME`).| +|`rmw_connextdds`|RTI Connext DDS Professional 7.3.0|`CONNEXTDDS_DIR`, or `NDDSHOME`|Yes|None| +|`rmw_connextddsmicro`|RTI Connext DDS Micro 3.x |`RTIMEHOME`|No (if RTI Connext DDS Professional 7.3.0 is available)|Guessed from contents of RTI Connext DDS Professional installation| ### Multiple versions of RTI Connext DDS Professional @@ -129,7 +128,7 @@ have installed RTI Connext DDS Professional 5.3.1 via the `apt` package If `rmw_connext_cpp` is installed via debian package `ros--rmw-connext-cpp`, variable `${NDDSHOME}` will always be hard-coded to the install location of the `apt` package -(`/opt/rti.com/rti_connext_dds-5.3.1`). +(`/opt/rti.com/rti_connext_dds-`). In this case, you can use `${CONNEXTDDS_DIR}` to point to a Connext 6.x installation, making sure to source script @@ -211,9 +210,9 @@ its defaults. ### RMW_CONNEXT_DISABLE_RELIABILITY_OPTIMIZATIONS By default, `rmw_connextdds` will modify the QoS of each reliable DataWriter -and DataReader to improve the responsiveness of the RTPS [reliability protocol](https://community.rti.com/static/documentation/connext-dds/6.0.1/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/Using_QosPolicies_to_Tune_the_Reliable_P.htm?tocpath=Part%203%3A%20Advanced%20Concepts%7C11.%20Reliable%20Communications%7C11.3%20Using%20QosPolicies%20to%20Tune%20the%20Reliable%20Protocol%7C_____0#reliable_1394042328_776265). +and DataReader to improve the responsiveness of the RTPS [reliability protocol](https://community.rti.com/static/documentation/connext-dds/7.3.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/Using_QosPolicies_to_Tune_the_Reliable_P.htm?tocpath=Part%203%3A%20Advanced%20Concepts%7C11.%20Reliable%20Communications%7C11.3%20Using%20QosPolicies%20to%20Tune%20the%20Reliable%20Protocol%7C_____0#reliable_1394042328_776265). -For example, the ["heartbeat period"](https://community.rti.com/static/documentation/connext-dds/6.0.1/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/Controlling_Heartbeats_and_Retries.htm#reliable_1394042328_785637) +For example, the ["heartbeat period"](https://community.rti.com/static/documentation/connext-dds/7.3.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/Controlling_Heartbeats_and_Retries.htm#reliable_1394042328_785637) is sped up from 3 seconds to 100 milliseconds. These optimizations may be disabled using variable @@ -258,7 +257,7 @@ The values will be parsed, trimmed, and stored in QoS field value it previously contained. While both `rmw_connextdds` and `rmw_connextddsmicro` will honor this variable, -[equivalent, and more advanced, functionality is already available in RTI Connext DDS](https://community.rti.com/static/documentation/connext-dds/6.0.1/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/ConfigPeersListUsed_inDiscov.htm), +[equivalent, and more advanced, functionality is already available in RTI Connext DDS](https://community.rti.com/static/documentation/connext-dds/7.3.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/ConfigPeersListUsed_inDiscov.htm), for example using variable `NDDS_DISCOVERY_PEERS`. For this reason, only users of `rmw_connextddsmicro` should consider specifying From ab5aa72ec9b680c8aecdce6ad4e29ddeefe344d4 Mon Sep 17 00:00:00 2001 From: Juan Carlos Chaves Puertas Date: Mon, 7 Apr 2025 18:26:37 +0200 Subject: [PATCH 3/4] #177: Point to new package with '-ros' suffix to avoid collision with RTI evaluation packages --- rti_connext_dds_cmake_module/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rti_connext_dds_cmake_module/package.xml b/rti_connext_dds_cmake_module/package.xml index dc3fdbe0..3e64d827 100644 --- a/rti_connext_dds_cmake_module/package.xml +++ b/rti_connext_dds_cmake_module/package.xml @@ -10,7 +10,7 @@ ament_cmake ament_cmake - rti-connext-dds-7.3.0 + rti-connext-dds-7.3.0-ros ament_lint_auto ament_lint_common From 6178be7f1cbea17a3c42d5f04411707f0577d29a Mon Sep 17 00:00:00 2001 From: Juan Carlos Chaves Puertas Date: Mon, 7 Apr 2025 22:49:00 +0200 Subject: [PATCH 4/4] #177: go back to rti-connext-dds-7.3.0 to match changes in rosdistro repo --- rti_connext_dds_cmake_module/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rti_connext_dds_cmake_module/package.xml b/rti_connext_dds_cmake_module/package.xml index 3e64d827..dc3fdbe0 100644 --- a/rti_connext_dds_cmake_module/package.xml +++ b/rti_connext_dds_cmake_module/package.xml @@ -10,7 +10,7 @@ ament_cmake ament_cmake - rti-connext-dds-7.3.0-ros + rti-connext-dds-7.3.0 ament_lint_auto ament_lint_common