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OpenDDS ROS2 Middleware

This project contains a work-in-progress implementation of the ROS2 Middleware Interface (RMW) using OpenDDS.

Packages

This project contains several ROS2 packages:

  • rmw_opendds: composed of (this repo)
    • rmw_opendds_cpp: Responsible for binding the ROS2 rmw.h interface functions to the equivalent OpenDDS functions.
  • rosidl_typesupport_opendds: composed of (https://github.com/oci-labs/rosidl_typesupport_opendds)
    • opendds_cmake_module: Responsible for configuring paths to the TAO/OpenDDS IDL processors and headers.
    • rosidl_typesupport_opendds_c: Responsible for generating OpenDDS C headers based on the OMG IDLs produced by ROS2 preprocessors.
    • rosidl_typesupport_opendds_cpp: Responsible for generating OpenDDS C++ headers based on the OMG IDLs produced by ROS2 preprocessors.

These packages are built using ROS2's Colcon build tool. rosidl_typesupport_c and rosidl_typesupport_cpp are almost identical, but must be provided as separate packages in order to satisfy the build-time requirements of the ROS2 demo projects.

Usage

See https://github.com/oci-labs/rmw_build/blob/master/README.md for details on how to build and run this repo.