4ac0536eff
* Change branching strategy - now `master` targets Foxy and `dashing-eloquent` targets Dashing and Eloquent fix https://github.com/ros2/rmw_cyclonedds/issues/128
39 lines
1.8 KiB
Markdown
39 lines
1.8 KiB
Markdown
# ROS2 RMW for Eclipse Cyclone DDS
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**Easy, fast, reliable, small [Eclipse Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) middleware** for ROS2. 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).
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This package lets [*ROS2*](https://index.ros.org/doc/ros2) use [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS implementation.
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Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most robust ROS2 experience. Let the Cyclone blow you away!
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1. Install:
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```
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apt install ros-eloquent-rmw-cyclonedds-cpp
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```
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or
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```
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apt install ros-dashing-rmw-cyclonedds-cpp
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```
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2) Set env variable and run ROS2 apps as usual:
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```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```
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3) Confirm RMW: In Eloquent, to confirm which RMW you're using:
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```ros2 doctor --report```
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## Building from source and contributing
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The following branches are actively maintained:
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* `master`, which targets the upcoming ROS version, [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
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* `dashing-eloquent`, which maintains compatibility with ROS releases [*Dashing*](https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/) and [*Eloquent*](https://index.ros.org/doc/ros2/Releases/Release-Eloquent-Elusor/)
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If building ROS2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:
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cd /opt/ros/master
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rosdep install --from src -i
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colcon build
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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