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Hi, I have a ROS2 pub-sub application and it works fine on default DDS implementation fastRTPS. I would like to change the middleware to another DDS implementation like openSplice or Connext DDS.
What are the changes needed in my package(in CMake & package.xml) and build steps to support those implementations?
Short answer is : None. No code change is needed at all if your application use only ROS API (and not specific Fast-RTPS symbols)
ROS 2 aims to abstract all this from you and if you have another DDS implementation installed you should be able to switch to another implementation by just setting the RMW_IMPLEMENTATION environment variable. You can find more info here
This has limits though, for examples if you application contains custom ROS messages, you need to generate them for the implementation you want to use. So you need to have the DDS implementation and corresponding ROS packages already installed before building the workspace of your application.
For a concrete example: if you use ROS Eloquent, all you need to do to use Connext DDS in your application is:
apt-get install ros-eloquent-rmw-connext-cppsource /opt/ros/eloquent/setup.bashcolcon buildexport RMW_IMPLEMENTATION=rmw_connext_cppros2 run my_package my_applicationAsked: 2020-04-19 04:43:11 -0600
Seen: 564 times
Last updated: Apr 19 '20
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Can you please share how you have done this pub/sub on default dds?