You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.
GurumNetworks GurumDDS
rmw_gurumdds is an implementation of the ROS middleware interface using GurumNetworks GurumDDS. For more information about GurumDDS, visit the GurumNetworks website.
Prerequisites
This guide assumes you have completed the ROS 2 environment setup process, either by Installing ROS 2 via Deb Packages or Building ROS 2 from source on Ubuntu.
Version Requirements (see the README for details):
ROS 2 Distro |
GurumDDS Version |
|---|---|
rolling |
>= 3.2.0 |
jazzy |
>= 3.2.0 |
humble |
3.1.x |
Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu. Windows binary installer of GurumDDS will be available soon.
You can obtain a free trial license from the GurumDDS Free Trial page.
After acquiring a license, place it in the following location: /etc/gurumnet
Installation
Option 1: Install from the ROS 2 apt repository (Recommended)
sudo apt install ros-iron-rmw-gurumdds-cpp
This installs both rmw_gurumdds_cpp and gurumdds.
Option 2: Build from source code
Clone the repository
cd ros2_ws/src
git clone https://github.com/ros2/rmw_gurumdds -b iron ros2/rmw_gurumdds
Install dependencies:
cd ..
rosdep install --from src -i --rosdistro iron
Build the worksapce using Colcon:
colcon build --symlink-install
Switch to rmw_gurumdds
Switch from other RMW implementations to rmw_gurumdds by setting the environment variable:
export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
For more information on working with multiple RMW implementations, see Working with multiple RMW implementations.
Testing the installation
Run the talker and listener nodes to verify your installation:
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_cpp listener
If the nodes communicate successfully, your installation is working correctly.
Note
Remember to source your ROS 2 setup script before running these commands.