a63cc8b84d
Depends on some improvements to Cyclone, source compatible with versions that lack those improvements. Signed-off-by: Erik Boasson <eb@ilities.com>
45 lines
2.3 KiB
Markdown
45 lines
2.3 KiB
Markdown
# A ROS2 RMW implementation for Eclipse Cyclone DDS
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With the code in this repository, it is possible to use [*ROS2*](https://index.ros.org/doc/ros2)
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with [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS
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implementation.
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## Getting, building and using it
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All it takes to get Cyclone DDS support into ROS2 is to clone this repository and the Cyclone DDS
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one in the ROS2 workspace source directory, and then run colcon build in the usual manner:
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cd ros2_ws/src
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git clone https://github.com/atolab/rmw_cyclonedds
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git clone https://github.com/eclipse-cyclonedds/cyclonedds
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cd ..
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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This seems to work fine on Linux with a binary ROS2 installation as well as when building ROS2 from
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source. On macOS it has only been tested in a source build on a machine in an "unsupported"
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configuration (macOS 10.14 with SIP enabled, instead of 10.12 with SIP disabled), and apart from a
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few details that are caused by the machine configuration, that works fine, too. There is no reason
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why it wouldn't work the same on Windows, but I haven't tried.
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That said, Cyclone DDS has some prerequisites because it currently relies on Java and Maven to build
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its IDL preprocessor, and so it is probably advisable to check its README for details. On an Ubuntu
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18.04 system, ``sudo apt-get install maven default-jdk`` will likely address that.
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If you want to use a pre-existing installation of Cyclone DDS, you don't need to clone it, but you
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may have to tell CMake where to look for it using the CycloneDDS\_DIR variable. That also appears
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to be the case if there are other packages in the ROS2 workspace that you would like to use Cyclone
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DDS directly instead of via the ROS2 abstraction.
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## Known limitations
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There are a number of known limitations:
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* Cyclone DDS does not yet implement DDS Security. Consequently, there is no support for security
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in this RMW implementation either.
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* Deserialization only handles native format (it doesn't do any byte swapping). This is pure
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laziness, adding it is trivial.
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* Deserialization assumes the input is valid and will do terrible things if it isn't. Again, pure
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laziness, it's just adding some bounds checks and other validation code.
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