fastrtps package from fastrtps repo

fastrtps

Package Summary

Tags No category tags.
Version 2.6.9
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/eProsima/Fast-DDS.git
VCS Type git
VCS Version 2.6.x
Last Updated 2025-02-03
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Additional Links

Maintainers

  • Miguel Company
  • Eduardo Ponz

Authors

No additional authors.

eProsima Fast DDS

Fast DDS




FIWARE Robotics License Releases Issues Forks Stars Documentation badge
Status Fast DDS Ubuntu CI (weekly) Fast DDS Windows CI (weekly) Fast DDS MacOS CI (weekly) Coverage



eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Some of the main features of this library are:

  • Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
  • Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
  • Modularity and scalability to allow continuous growth with complex and simple devices in the network.
  • Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
  • Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.

eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:

  • Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
  • EU R&D: FIWARE Incubated GE.

This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.

Commercial support

Looking for commercial support? Write us to info@eprosima.com

Find more about us at eProsima’s webpage.

Want us to share your project with the community?

Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!

Supported platforms

More information about the official support can be found here

  • Linux Linux ci
  • Linux-aarch64 Linux arm64 ci
  • Windows Windows ci
  • Mac Mac ci

Installation Guide

You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.

Installation from binaries

The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.

Documentation

You can access the documentation online, which is hosted on Read the Docs.

Quality Declaration

eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.

Quick Demo

eProsima provides the eProsima Fast DDS Suite Docker image for those who want a quick demonstration of Fast-DDS running on an Ubuntu platform. It can be downloaded from eProsima’s downloads page.

This Docker image was built for Ubuntu 20.04 (Focal Fossa).

To run this container you need Docker installed. From a terminal run the following command

$ sudo apt-get install docker.io

Load the docker image:

$ docker load -i ubuntu-fastdds-suite:<FastDDS-Version>.tar
$ docker tag ubuntu-fastdds-suite:<FastDDS-Version> ubuntu-fastdds-suite:latest

Run the eProsima Fast DDS Suite Docker container:

$ xhost local:root
$ docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
ubuntu-fastdds-suite:<FastDDS-Version>

This Docker Image comes bundled with the following:

Shapes Demo

eProsima Shapes Demo is an application in which Publishers and Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square, Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at a time.

You can read more about this application on the Shapes Demo documentation page.

To run this application once inside the Docker container run:

$ ShapesDemo

eProsima Shapes Demo usage information can be found on the Shapes Demo First Steps page.

Fast DDS Monitor

eProsima Fast DDS Monitor is a graphical desktop application aimed at monitoring DDS environments deployed using the eProsima Fast DDS library. Thus, the user can monitor in real time the status of publication/subscription communications between DDS entities. They can also choose from a wide variety of communication parameters to be measured (latency, throughput,packet loss, etc.), as well as record and compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).

You can read more about this application on the Fast DDS Monitor documentation page.

To run this application once inside the Docker container run:

$ fastdds_monitor

eProsima Fast DDS Monitor usage information can be found on the Fast DDS Monitor User Manual.

Fast DDS libraries and Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing

$ goToExamples

From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such examples below.

To launch the Hello World example (a minimal example that will perform a Publisher/Subscriber match and start sending samples) you could run:

$ goToExamples
$ cd HelloWorldExample/bin
$ tmux new-session "./HelloWorldExample publisher 0 1000" \; \
split-window "./HelloWorldExample subscriber" \; \
select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

$ goToExamples
$ cd HelloWorldExample/bin
$ ./HelloWorldExample publisher

or

$ goToExamples
$ cd HelloWorldExample/bin
$ ./HelloWorldExample subscriber

Another example you could launch is the Benchmark example. This example creates either a Publisher or a Subscriber and on a successful match starts sending samples. After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.

On the subscriber side, run:

$ goToExamples
$ cd Benchmark/bin
$ ./Benchmark subscriber udp

On the publisher side, run:

$ goToExamples
$ cd Benchmark/bin
$ ./Benchmark publisher udp

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fastrtps at Robotics Stack Exchange

fastrtps package from fastrtps repo

fastrtps

Package Summary

Tags No category tags.
Version 2.14.4
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/eProsima/Fast-DDS.git
VCS Type git
VCS Version 2.14.x
Last Updated 2025-03-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Additional Links

Maintainers

  • Miguel Company
  • Eduardo Ponz

Authors

No additional authors.

Fast DDS




FIWARE Robotics License Releases Issues Forks Stars Documentation badge
Status Fast DDS Ubuntu CI (nightly) Fast DDS Windows CI (nightly) Fast DDS MacOS CI (nightly) Coverage



eprosima Fast DDS (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Some of the main features of this library are:

  • Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
  • Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
  • Modularity and scalability to allow continuous growth with complex and simple devices in the network.
  • Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
  • Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.

eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:

  • Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
  • EU R&D: FIWARE Incubated GE.

This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.

Commercial support

Looking for commercial support? Write us to info@eprosima.com

Find more about us at eProsima’s webpage.

Want us to share your project with the community?

Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!

Supported platforms

More information about the official support can be found here

Installation Guide

You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.

Installation from binaries

The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.

Documentation

You can access the documentation online, which is hosted on Read the Docs.

Quality Declaration

eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.

Quick Demo

eProsima provides the eProsima Fast DDS Suite Docker image for those who want a quick demonstration of Fast-DDS running on an Ubuntu platform. It can be downloaded from eProsima’s downloads page.

This Docker image was built for Ubuntu 20.04 (Focal Fossa).

To run this container you need Docker installed. From a terminal run the following command

$ sudo apt-get install docker.io

Load the docker image:

$ docker load -i ubuntu-fastdds-suite:<FastDDS-Version>.tar
$ docker tag ubuntu-fastdds-suite:<FastDDS-Version> ubuntu-fastdds-suite:latest

Run the eProsima Fast DDS Suite Docker container:

$ xhost local:root
$ docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
ubuntu-fastdds-suite:<FastDDS-Version>

This Docker Image comes bundled with the following:

Shapes Demo

eProsima Shapes Demo is an application in which Publishers and Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square, Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at a time.

You can read more about this application on the Shapes Demo documentation page.

To run this application once inside the Docker container run:

$ ShapesDemo

eProsima Shapes Demo usage information can be found on the Shapes Demo First Steps page.

Fast DDS Monitor

eProsima Fast DDS Monitor is a graphical desktop application aimed at monitoring DDS environments deployed using the eProsima Fast DDS library. Thus, the user can monitor in real time the status of publication/subscription communications between DDS entities. They can also choose from a wide variety of communication parameters to be measured (latency, throughput,packet loss, etc.), as well as record and compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).

You can read more about this application on the Fast DDS Monitor documentation page.

To run this application once inside the Docker container run:

$ fastdds_monitor

eProsima Fast DDS Monitor usage information can be found on the Fast DDS Monitor User Manual.

Fast DDS libraries and Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing

$ goToExamples

From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such examples below.

To launch the Hello World example (a minimal example that will perform a Publisher/Subscriber match and start sending samples) you could run:

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ tmux new-session "./HelloWorldExample publisher 0 1000" \; \
split-window "./HelloWorldExample subscriber" \; \
select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ ./HelloWorldExample publisher

or

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ ./HelloWorldExample subscriber

Another example you could launch is the Benchmark example. This example creates either a Publisher or a Subscriber and on a successful match starts sending samples. After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.

On the subscriber side, run:

$ goToExamples
$ cd dds/Benchmark/bin
$ ./Benchmark subscriber udp

On the publisher side, run:

$ goToExamples
$ cd dds/Benchmark/bin
$ ./Benchmark publisher udp

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fastrtps at Robotics Stack Exchange

No version for distro rolling. Known supported distros are highlighted in the buttons above.

fastrtps package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet ros2_bevformer bevfusion bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch launch_ros autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs io_opt tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator classformsg node_v2x image_view v4l2_camera can_interface_custom cgi430_can_driver cgi610_driver ARS408_driver data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

Package Summary

Tags No category tags.
Version 2.6.4
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Additional Links

Maintainers

  • Miguel Company
  • Eduardo Ponz

Authors

No additional authors.

eProsima Fast DDS

FIWARE Robotics License Releases Issues Forks Stars Twitter Follow
Documentation badge Status Linux ci Linux arm64 ci Windows ci Mac ci Coverage

eprosima Fast DDS (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Some of the main features of this library are:

  • Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
  • Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
  • Modularity and scalability to allow continuous growth with complex and simple devices in the network.
  • Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
  • Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.

eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:

  • Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
  • EU R&D: FIWARE Incubated GE.

This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.

Want us to share your project with the community?

Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!

Supported platforms

More information about the official support can be found here

  • Linux Linux ci
  • Linux-aarch64 Linux arm64 ci
  • Windows Windows ci
  • Mac Mac ci

Installation Guide

You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.

Installation from binaries

The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.

Documentation

You can access the documentation online, which is hosted on Read the Docs.

Quality Declaration

eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.

Quick Demo

eProsima provides the eProsima Fast DDS Suite Docker image for those who want a quick demonstration of Fast-DDS running on an Ubuntu platform. It can be downloaded from eProsima’s downloads page.

This Docker image was built for Ubuntu 20.04 (Focal Fossa).

To run this container you need Docker installed. From a terminal run the following command

$ sudo apt-get install docker.io

Load the docker image:

$ docker load -i ubuntu-fastdds-suite:<FastDDS-Version>.tar
$ docker tag ubuntu-fastdds-suite:<FastDDS-Version> ubuntu-fastdds-suite:latest

Run the eProsima Fast DDS Suite Docker container:

$ xhost local:root
$ docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
ubuntu-fastdds-suite:<FastDDS-Version>

This Docker Image comes bundled with the following:

Shapes Demo

eProsima Shapes Demo is an application in which Publishers and Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square, Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at a time.

You can read more about this application on the Shapes Demo documentation page.

To run this application once inside the Docker container run:

$ ShapesDemo

eProsima Shapes Demo usage information can be found on the Shapes Demo First Steps page.

Fast DDS Monitor

eProsima Fast DDS Monitor is a graphical desktop application aimed at monitoring DDS environments deployed using the eProsima Fast DDS library. Thus, the user can monitor in real time the status of publication/subscription communications between DDS entities. They can also choose from a wide variety of communication parameters to be measured (latency, throughput,packet loss, etc.), as well as record and compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).

You can read more about this application on the Fast DDS Monitor documentation page.

To run this application once inside the Docker container run:

$ fastdds_monitor

eProsima Fast DDS Monitor usage information can be found on the Fast DDS Monitor User Manual.

Fast DDS libraries and Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing

$ goToExamples

From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such examples below.

To launch the Hello World example (a minimal example that will perform a Publisher/Subscriber match and start sending samples) you could run:

$ goToExamples
$ cd HelloWorldExample/bin
$ tmux new-session "./HelloWorldExample publisher 0 1000" \; \
split-window "./HelloWorldExample subscriber" \; \
select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

$ goToExamples
$ cd HelloWorldExample/bin
$ ./HelloWorldExample publisher

or

$ goToExamples
$ cd HelloWorldExample/bin
$ ./HelloWorldExample subscriber

Another example you could launch is the Benchmark example. This example creates either a Publisher or a Subscriber and on a successful match starts sending samples. After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.

On the subscriber side, run:

$ goToExamples
$ cd Benchmark/bin
$ ./Benchmark subscriber udp

On the publisher side, run:

$ goToExamples
$ cd Benchmark/bin
$ ./Benchmark publisher udp

Getting Help

If you need support you can reach us by mail at support@eProsima.com or by phone at +34 91 804 34 48.


rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fastrtps at Robotics Stack Exchange

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fastrtps package from fastrtps repo

fastrtps

Package Summary

Tags No category tags.
Version 2.3.4
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/eProsima/Fast-DDS.git
VCS Type git
VCS Version 2.3.x
Last Updated 2021-10-11
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Additional Links

Maintainers

  • Miguel Company
  • Eduardo Ponz

Authors

No additional authors.

eProsima Fast DDS

<img align=”right”; hspace=”20” src=”https://www.eprosima.com/images/icons/eProsima_tweet.png” alt=”tweet button” title=”Recommend Fast RTPS on Twitter”></img>

FIWARE Robotics License Releases Issues Forks Stars
Documentation badge Status Linux ci Linux arm64 ci Windows ci Mac ci Coverage

eprosima Fast DDS (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Some of the main features of this library are:

  • Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
  • Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
  • Modularity and scalability to allow continuous growth with complex and simple devices in the network.
  • Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
  • Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.

eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:

  • Robotics: ROS (Robotic Operating System) as their default middleware for ROS2 until and including the latest long term release Foxy Fitzroy.
  • EU R&D: FIWARE Incubated GE.

This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.

Want us to share your project with the community?

Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!

Supported platforms

  • Linux Linux ci
  • Linux-aarch64 Linux arm64 ci
  • Windows Windows ci
  • Mac Mac ci

Installation Guide

You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source.

Installation from binaries

The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.

Installation from Source

Dependencies

Asio and TinyXML2 libraries

On Linux, you can install these libraries using the package manager of your Linux distribution. For example, on Ubuntu you can install them by using its package manager with the next command.

sudo apt install libasio-dev libtinyxml2-dev

On Windows, you can install these libraries using Chocolatey. First, download the following chocolatey packages from this ROS2 Github repository.

  • asio.1.12.1.nupkg
  • tinyxml2.6.0.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

choco install -y -s <PATH\TO\DOWNLOADS\> asio tinyxml2

Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.

Colcon installation

colcon is a command line tool to build sets of software packages. This section explains to use it to compile easily Fast-RTPS and its dependencies. First install ROS2 development tools (colcon and vcstool):

pip install -U colcon-common-extensions vcstool

Download the repos file that will be used to download Fast RTPS and its dependencies:

$ mkdir fastdds_ws
$ cd fastdds_ws
$ wget https://raw.githubusercontent.com/eProsima/Fast-DDS/master/fastrtps.repos
$ mkdir src
$ vcs import src < fastrtps.repos

Finally, use colcon to compile all software:

$ colcon build

Manual installation

Before compiling manually Fast DDS you need to clone the following dependencies and compile them using CMake.

    $ git clone https://github.com/eProsima/Fast-CDR.git
    $ mkdir Fast-CDR/build && cd Fast-CDR/build
    $ cmake ..
    $ cmake --build . --target install
    
    $ git clone https://github.com/eProsima/foonathan_memory_vendor.git
    $ cd foonathan_memory_vendor
    $ mkdir build && cd build
    $ cmake ..
    $ cmake --build . --target install
    

Once all dependencies are installed, you will be able to compile and install Fast DDS.

$ git clone https://github.com/eProsima/Fast-DDS.git
$ mkdir Fast-DDS/build && cd Fast-DDS/build
$ cmake ..
$ cmake --build . --target install

Documentation

You can access the documentation online, which is hosted on Read the Docs.

Quality Declaration

eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.

Quick Demo

For those who want to try a quick demonstration of Fast DDS libraries on Ubuntu, here is a way to launch an example application.

First, download and install docker application. Open a terminal and type the following command:

$ sudo apt-get install docker.io

Then, download the docker image files from the eProsima downloads website.

Load the docker images:

$ docker load -i ubuntu-fast-dds:<FastDDS-Version>.tar
$ docker tag ubuntu-fast-rtps:<FastDDS-Version> ubuntu-fast-rtps:latest
$ docker load -i ubuntu-fast-dds-helloworld:<FastDDS-Version>.tar
$ docker load -i ubuntu-fast-dds-shapesdemo:<ShapesDemo-Version>.tar

Run the Docker container with the eProsima Shapes Demo application. Please refer to Shapes Demo documentation for further details on how to use this application.

$ xhost local:root
$ docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
    ubuntu-fast-dds-shapesdemo:<ShapesDemo-Version>

It is also possible to run the Fast DDS HelloWorld example by executing the following command:

$ docker run -it ubuntu-fast-dds-helloworld:<FastDDS-Version>

Run as many images as wanted and check the communication between them.

For instance, to run Benchmark example, run the following commands in the separate terminal sessions:

$ docker run -i ubuntu-fast-rtps /usr/local/examples/C++/Benchmark/bin/Benchmark subscriber udp
$ docker run -i ubuntu-fast-rtps /usr/local/examples/C++/Benchmark/bin/Benchmark publisher udp

Getting Help

If you need support you can reach us by mail at support@eProsima.com or by phone at +34 91 804 34 48.


rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fastrtps at Robotics Stack Exchange

No version for distro foxy. Known supported distros are highlighted in the buttons above.

fastrtps package from fastrtps repo

fastrtps

Package Summary

Tags No category tags.
Version 2.10.6
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/eProsima/Fast-DDS.git
VCS Type git
VCS Version 2.10.x
Last Updated 2025-04-02
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

*eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Additional Links

Maintainers

  • Miguel Company
  • Eduardo Ponz

Authors

No additional authors.

eProsima Fast DDS

Fast DDS




FIWARE Robotics License Releases Issues Forks Stars Documentation badge
Status Fast DDS Ubuntu CI (nightly) Fast DDS Windows CI (nightly) Fast DDS MacOS CI (nightly) Coverage



eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.

Some of the main features of this library are:

  • Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
  • Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
  • Modularity and scalability to allow continuous growth with complex and simple devices in the network.
  • Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
  • Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.

eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:

  • Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
  • EU R&D: FIWARE Incubated GE.

This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.

Commercial support

Looking for commercial support? Write us to info@eprosima.com

Find more about us at eProsima’s webpage.

Want us to share your project with the community?

Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!

Supported platforms

More information about the official support can be found here

Installation Guide

You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.

Installation from binaries

The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.

Documentation

You can access the documentation online, which is hosted on Read the Docs.

Quality Declaration

eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.

Quick Demo

eProsima provides the eProsima Fast DDS Suite Docker image for those who want a quick demonstration of Fast-DDS running on an Ubuntu platform. It can be downloaded from eProsima’s downloads page.

This Docker image was built for Ubuntu 20.04 (Focal Fossa).

To run this container you need Docker installed. From a terminal run the following command

$ sudo apt-get install docker.io

Load the docker image:

$ docker load -i ubuntu-fastdds-suite:<FastDDS-Version>.tar
$ docker tag ubuntu-fastdds-suite:<FastDDS-Version> ubuntu-fastdds-suite:latest

Run the eProsima Fast DDS Suite Docker container:

$ xhost local:root
$ docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \
ubuntu-fastdds-suite:<FastDDS-Version>

This Docker Image comes bundled with the following:

Shapes Demo

eProsima Shapes Demo is an application in which Publishers and Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square, Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at a time.

You can read more about this application on the Shapes Demo documentation page.

To run this application once inside the Docker container run:

$ ShapesDemo

eProsima Shapes Demo usage information can be found on the Shapes Demo First Steps page.

Fast DDS Monitor

eProsima Fast DDS Monitor is a graphical desktop application aimed at monitoring DDS environments deployed using the eProsima Fast DDS library. Thus, the user can monitor in real time the status of publication/subscription communications between DDS entities. They can also choose from a wide variety of communication parameters to be measured (latency, throughput,packet loss, etc.), as well as record and compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).

You can read more about this application on the Fast DDS Monitor documentation page.

To run this application once inside the Docker container run:

$ fastdds_monitor

eProsima Fast DDS Monitor usage information can be found on the Fast DDS Monitor User Manual.

Fast DDS libraries and Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing

$ goToExamples

From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such examples below.

To launch the Hello World example (a minimal example that will perform a Publisher/Subscriber match and start sending samples) you could run:

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ tmux new-session "./HelloWorldExample publisher 0 1000" \; \
split-window "./HelloWorldExample subscriber" \; \
select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ ./HelloWorldExample publisher

or

$ goToExamples
$ cd dds/HelloWorldExample/bin
$ ./HelloWorldExample subscriber

Another example you could launch is the Benchmark example. This example creates either a Publisher or a Subscriber and on a successful match starts sending samples. After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.

On the subscriber side, run:

$ goToExamples
$ cd dds/Benchmark/bin
$ ./Benchmark subscriber udp

On the publisher side, run:

$ goToExamples
$ cd dds/Benchmark/bin
$ ./Benchmark publisher udp

rosin_logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu

eu_flag

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fastrtps at Robotics Stack Exchange

No version for distro lunar. Known supported distros are highlighted in the buttons above.
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