Implementation of the ROS Middleware (rmw) Interface using RTI's Connext DDS.

DEPRECATION NOTICE: rmw_connextdds is a new RMW implementation for RTI Connext DDS, which supersedes the one contained in this repository (rmw_connext_cpp). This new implementation was developed by RTI in collaboration with the ROS 2 community, and it resolves several performance issues that are present in this implementation. rmw_connextdds is included in ROS 2 releases starting with Galactic. This rmw implementation will be supported until the end-of-life of the ROS distributions it is available in (ROS 2 Dashing and Foxy).

To use rmw_connext with ROS2 applications, set the environment variable RMW_IMPLEMENTATION=rmw_connext_cpp and run your ROS2 applications as usual:

Linux:
export RMW_IMPLEMENTATION=rmw_connext_cpp
or prepend on ROS2 command line, such as: RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run rviz2 rviz2

Windows:
set RMW_IMPLEMENTATION=rmw_connext_cpp

Pre-built binaries for RTI Connext DDS are available for x86_64 (Debian/Ubuntu) Linux platform using the steps outlined in the ROS2 installation wiki, available under a non-commercial license.
Other platforms must be built from source, using a separately-installed copy of RTI Connext DDS.

This implementation of rmw_connext requires version 5.3.1 of RTI Connext DDS, which can be obtained through the RTI University Program, purchase, or as an evaluation. Note that the RTI website has Free Trial offers, but these are typically for the most-current version of RTI Connext DDS (6.0.1 as of this writing), which does not build with this implementation of rmw_connext.

Refer to the Install DDS Implementations page for details on building rmw_connext for your platform.

See RTI Quality Declaration file, hosted on RTI Community website.