RMW

The ROS 2 Middleware Interface provides an abstraction layer to different DDS implementations for communication with the ROS 2 Client Library. This package contains the rmw interface for DDS implementation and some general functionality useful for implementers.

For more information, see https://design.ros2.org/articles/ros_middleware_interface.html

Interface and Features

For specific information about the rmw interface and features, see its api docs.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rmw

7.5.0 (2024-10-03)

• Initialize the NULL strucutre with static value. (#378)
• Contributors: Tomoya Fujita

7.4.3 (2024-07-29)

• remove rmw_localhost_only_t. (#376)
• Fix typo with RMW_DURATION_UNSPECIFIED (#375)
• Fix typo in rmw_validate_*_with_size() doc (#374)
• Contributors: Christophe Bedard, Tomoya Fujita

7.4.2 (2024-07-09)

• removed deprecated rmw_node_assert_liveliness() (#373)
• Contributors: Alejandro Hernández Cordero

7.4.1 (2024-06-17)

• add mingw support (#370)
• Minor typo fix (#368)
• Contributors: Felix F Xu, G.A. vd. Hoorn

7.4.0 (2024-04-26)

• Removed warnings - strict-prototypes (#365)
• Contributors: Alejandro Hernández Cordero

7.3.0 (2023-12-26)

• Switch to target_link_libraries. (#361)
• Remove unnecessary c++14 flag. (#360)
• Contributors: Chris Lalancette

7.2.2 (2023-11-06)

• definition of local means being in the same context. (#359)
• Contributors: Tomoya Fujita

7.2.1 (2023-07-11)

• typo fix. (#355)
• Contributors: Tomoya Fujita

7.2.0 (2023-04-27)

7.1.0 (2023-04-12)

• Dynamic Subscription (BONUS: Allocators): rmw (#353)
• Runtime Interface Reflection: rmw (#340)
• [rmw] Improve handling of dynamic discovery (#338)
• rmw_send_reqponse returns RMW_RET_TIMEOUT. (#350)
• Add a note about asynchronicity of discovery. (#352)
• Add matched event support (#331)
• Add type hash to rmw_topic_endpoint_info_t (rep2011) (#348)
• Add in inconsistent topic defines and data structures. (#339)
• Update documented expectations for GIDs (#335)
• Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Jacob Perron, Tomoya Fujita, William Woodall, methylDragon

7.0.1 (2023-02-24)

• Fix rmw->rwm typo (#347)
• Contributors: Emerson Knapp

7.0.0 (2023-02-13)

• Add rmw count clients, services (#334)
• make writer_guid uint8_t[] instead of int8_t for consistency with rmw_gid_t (#329)
• Update rmw to C++17. (#346)
• Reduce GID storage to 16 bytes. (#345)
• Move the RMW_CHECK_TYPE_IDENTIFIERS_MATCH macro to a C header. (#343)
• [rolling] Update maintainers - 2022-11-07 (#337)
• Contributors: Audrow Nash, Brian, Chris Lalancette, Minju, Lee

6.4.0 (2022-11-02)

• Remove unused test_loaned_message_sequence.cpp (#336)
• callback can be NULL to clear in Listener APIs. (#332)
• Add rmw_get_gid_for_client method (#327)
• Contributors: Brian, Nikolai Morin, Tomoya Fujita

6.3.1 (2022-09-13)

6.3.0 (2022-05-03)

• Add 'best available' QoS policies (#320) The best available policy should select the highest level of service for the QoS setting while matching with the majority of endpoints. For example, in the case of a DDS middleware subscription, this means:
  • Prefer reliable reliability if all existing publishers on the same topic are reliable, otherwise use best effort.
  • Prefer transient local durability if all existing publishers on the same topic are transient local, otherwise use volatile.
  • Prefer manual by topic liveliness if all existing publishers on the same topic are manual by topic, otherwise use automatic.
  • Use a deadline that is equal to the largest deadline of existing publishers on the same topic.
  • Use a liveliness lease duration that is equal to the largest lease duration of existing publishers on the same topic.
• Contributors: Jacob Perron

6.2.0 (2022-04-29)

6.1.0 (2022-03-25)

• Add content filtered topics support. (#302)
• Add sequence numbers to rmw_message_info_t. (#318)
• Add rmw_feature_supported(). (#318)
• Contributors: Chen Lihui, Ivan Santiago Paunovic

6.0.0 (2022-03-01)

• Add EventsExecutor (#286)
• Document that rmw_wait() SHOULD use a monotonic clock (#316)
• Install headers to include/${PROJECT_NAME} (#317)
• Update rmw_server_is_available() API documentation. (#277)
• Contributors: Ivan Santiago Paunovic, Michel Hidalgo, Shane Loretz, iRobot ROS

5.1.0 (2021-11-19)

• Add client/service QoS getters. (#314)
• Contributors: mauropasse

5.0.0 (2021-09-15)

• Fix up documentation build for rmw when using rosdoc2 (#313)
• Fix up errors in doxygen documentation (#311)
• Fix copy-paste error in API doc for rmw_get_gid_for_publisher (#310)
• Contributors: Chris Lalancette, Christophe Bedard, Michel Hidalgo

4.0.0 (2021-06-02)

• Add rmw_publisher_wait_for_all_acked support. (#296)
• Contributors: Barry Xu

3.3.1 (2021-04-26)

• Document which QoS policies are correctly read by rmw_get_publishers/subscriptions_info_by_topic (#308)
• Contributors: Ivan Santiago Paunovic

3.3.0 (2021-04-06)

• Unique network flows (#294)
• updating quality declaration links (re: ros2/docs.ros2.org#52) (#307)
• Contributors: Ananya Muddukrishna, shonigmann

3.2.0 (2021-03-11)

• Introduce RMW_DURATION_INFINITE constant and API return value promise (#301)
• Contributors: Emerson Knapp

3.1.0 (2021-02-25)

• Add declaration for function to check QoS profile compatibility (#299)
• Update the rmw_take_sequence documentation. (#297)
• Contributors: Chris Lalancette, Jacob Perron

3.0.0 (2021-01-25)

2.2.1 (2020-12-10)

• Update rmw QD to QL 1 (#289)
• Contributors: Stephen Brawner

2.2.0 (2020-11-04)

• Extend rmw_qos_policy_kind_t, add functions to convert it to/from a string (#285)
• Add functions to convert between qos policy values and strings (#284)
• Update maintainers (#282)
• Update service request/response API documentation (#279)
• Update rmw_get_serialized_message_size docblock (#281)
• Update rmw_service_server_is_available doc (#280)
• Update wait and wait sets' API documentation (#275)
• Update graph API documentation (#272)
• Update service server/client creation/destruction API documentation. (#276)
• Update rmw___allocation return values (#278)
• Update gid API documentation (#274)
• Do not link against pthread on Android (#267)
• Update taking API documentation (#271)
• Update publishing API documentation (#270)
• Add fault injection macros for use in other packages (#254)
• Add bad_alloc return to topic_endpoint_info functions (#269)
• Update publisher/subscription matched count API documentation (#262)
• Update publisher/subscription QoS query API documentation (#263)
• Extend rmw_serialized_message_t tests (#261)
• Update serialization/deserialization API documentation (#258)
• Update subscription API documentation (#256)
• Update publisher creation/destruction API documentation (#252)
• Contributors: Alejandro Hernández Cordero, Ivan Santiago Paunovic, Jacob Perron, Michel Hidalgo, brawner

2.1.0 (2020-07-22)

• Add actual domain id to rmw_context_t (#251)
• Update node creation/destruction API documentation. (#249)
• Correct parameter names to match documentation (#250)
• Contributors: Geoffrey Biggs, Ivan Santiago Paunovic, Michel Hidalgo

2.0.0 (2020-07-08)

• Remove domain_id and localhost_only from node API (#248)
• Require enclave upon rmw_init() call. (#247)
• Update init/shutdown API documentation. (#243)
• Update init options API documentation. (#244)
• Contributors: Ivan Santiago Paunovic, Michel Hidalgo

1.1.0 (2020-06-18)

• Add message lost subscription event (#232)
• Move statuses definitions to rmw/events_statuses/ (#232)
• Increase rmw testing coverage above 95% (#238)
• Handle zero-length names_and_types properly (#239)
• Add missing RMW_PUBLIC to security_options_set_root_path (#236)
• Update Quality Declaration for QL 2 (#233)
• Add Security Vulnerability Policy pointing to REP-2006. (#230)
• Contributors: Chris Lalancette, Ivan Santiago Paunovic, Karsten Knese, Scott K Logan, Stephen Brawner, brawner

1.0.1 (2020-05-19)

• Fix cppcheck error (#229)
• Update Quality Declaration to reflect 1.0 (#228)
• Contributors: Michel Hidalgo, Stephen Brawner

1.0.0 (2020-05-12)

• Remove MANUAL_BY_NODE liveliness API (#227)
• Improved Quality declarations (#225)
• Quality declarations for rmw and rmw_implementation_cmake (#205)
• Add tests for untested public functionality (#203)
• Contributors: Alejandro Hernández Cordero, Ivan Santiago Paunovic, Stephen Brawner

0.9.0 (2020-04-24)

• Delete superfluous empty line (#222)
• Fix linter warning (#224)
• Rename rosidl_message_bounds_t (#223)
• Adding doxygen documentation and READMEs to packages (#204)
• Service timestamps (#217)
• Add API for taking a sequence of messages (#212)
• Add timestamps to message info (#214)
• Add build dep on rosidl_runtime_c to work with CMake < 3.13 (#221)
• Fix missing target dependency on rosidl_runtime_c (#220)
• Export targets in addition to include directories / libraries (#218)
• Document destroy_node may assume correct destruction order (#216)
• security-context -> enclave (#211)
• Rename rosidl_generator_c namespace to rosidl_runtime_c (#213)
• Added the right dependency rosidl runtime c instead of rosidl generator c (#198)
• Use one participant per context API changes (#189)
• Add comment about RMW_RET_UNSUPPORTED for loaned_message. (#208)
• Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#193)
• Move rmw_*_event_init() functions to rmw_implementation (#202)
• Rename rmw_topic_endpoint_info_array [count]{.title-ref} to [size]{.title-ref}, and initialize it (#196)
• Code style only: wrap after open parenthesis if not in one line (#195)
• Update development version after merging #186 (#194)
• Adding required structs and methods to get a list of publishers or subscribers with their respective qos (#186)
• Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Karsten Knese, Miaofei Mei, Michael Carroll, Mikael Arguedas, Shane Loretz, William Woodall, Stephen Brawner, Tomoya Fujita

0.8.1 (2019-10-23)

• Use return_loaned_message_from (#192)
• Add function to enable localhost communication only from env var (#190)
• Zero copy api (#185)
• Add call to bump dev version to the upcoming version 0.8.1 (#191)
• Add pub/sub option structures to support rmw specific payload feature (#187)
• Contributors: Brian Marchi, Dirk Thomas, Karsten Knese, William Woodall

0.8.0 (2019-09-24)

• Added specific return type for non existent node (#182)
• Added function for getting clients by node (#179)
• Added get_actual_qos() feature to subscriptions (#177)
• Added RMW_QOS_POLICY_LIVELINESS_UNKNOWN enum (#175)
• Contributors: Jacob Perron, M. M, ivanpauno

0.7.1 (2019-05-08)

• Implement QoS: liveliness, deadline, lifespan (#171)
• Rmw preallocate (#160)
• Add new QoS policy data types to rmw (#173)
• Contributors: M. M, Michael Carroll, Ross Desmond

0.7.0 (2019-04-13)

• Add function to get publisher actual qos settings (#169)
• fix checking boolean variable which might contain a string (#165)
• change parameter events to use KEEP_LAST (#162)
• Fix typo error (#164)
• pass context to wait set, and provide fini function for context (#163)
• minor notes explaining rmw_qos_profile_t (#156)
• Contributors: Dirk Thomas, Lalit Begani, Mike Lautman, William Woodall, ivanpauno

0.6.1 (2018-12-06)

• Add node graph functions (#158)
• refactor init to allow options to be passed and to not be global (#154)
• Methods to retrieve matched counts on publisher and subscriber (#155)
• use uint8_t instead of char for serialized message (#161)
• Contributors: Karsten Knese, Michael Carroll, Ross Desmond, William Woodall

0.6.0 (2018-11-16)

• use new error handling API (#153)
• Add semicolons to RCLCPP and RCUTILS macros. (#150)
• Include node namespaces in get_node_names() (#148)
• add missing doc for parameter (#149)
• rcutils_serialized_message -> rcutils_char_array (#146)
• rmw serialized to rcutils serialized (#145)
• rcutil -> rcutils (#147)
• get serialization format (#143)
• Contributors: Chris Lalancette, Karsten Knese, Michael Carroll, Mikael Arguedas, William Woodall

0.5.0 (2018-06-23)

• use rcutils allocator in allocators.c to avoid direct use of malloc/free (#140)
• check the return value of rcutils_snprintf (#138)
• _raw function (#125)
• Merge pull request #137 from ros2/misra_fixup
• Change #if to #ifdef.
• add function to parse key-value user_data (#132)
• Add validation functions accepting string length (#135)
• Clarify that NULL blocks forever in rmw_wait (#134)
• Enable setting log levels in DDS implementation (#124)
• Optimize namespace node and topic validation (#130)
• Contributors: Dirk Thomas, Ethan Gao, Karsten Knese, Michael Carroll, Shane Loretz, Sriram Raghunathan, William Woodall