Warning

You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Jazzy.

DDS implementations

By default, ROS 2 uses DDS as its middleware. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors. There is currently support for eProsima’s Fast DDS, RTI’s Connext DDS, Eclipse Cyclone DDS, and GurumNetworks GurumDDS. See https://ros.org/reps/rep-2000.html for supported DDS vendors by distribution.

The default DDS vendor is eProsima’s Fast DDS.

If you would like to use one of the other vendors you will need to install their software separately before building. The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly.

Once you’ve installed a new DDS vendor, you can change the vendor used at runtime: Working with Multiple RMW Implementations.

Detailed instructions for installing other DDS vendors are provided below.

Ubuntu Linux source install

RTI Connext (version 5.3.1, amd64 only)

Debian packages provided in the ROS 2 apt repositories

You can install a Debian package of RTI Connext available on the ROS 2 apt repositories. You will need to accept a license from RTI.

sudo apt install -q -y \
    rti-connext-dds-5.3.1  # from packages.ros.org/ros2/ubuntu

Source the setup file to set the NDDSHOME environment variable.

cd /opt/rti.com/rti_connext_dds-5.3.1/resource/scripts && source ./rtisetenv_x64Linux3gcc5.4.0.bash; cd -

Note: when using zsh you need to be in the directory of the script when sourcing it to have it work properly

Now you can build as normal and support for RTI will be built as well.

Official binary packages from RTI

You can install the Connext 5.3.1 package for Linux provided by RTI, via options available for university, purchase or evaluation

After downloading, use chmod +x on the .run executable and then execute it. Note that if you’re installing to a system directory use sudo as well.

The default location is ~/rti_connext_dds-5.3.1

After installation, run RTI launcher and point it to your license file (obtained from RTI).

Add the following line to your .bashrc file pointing to your copy of the license.

export RTI_LICENSE_FILE=path/to/rti_license.dat

Source the setup file to set the NDDSHOME environment variable.

source ~/rti_connext_dds-5.3.1/resource/scripts/rtisetenv_x64Linux3gcc5.4.0.bash

Now you can build as normal and support for RTI will be built as well.

Ubuntu Linux binary install

RTI Connext (version 5.3.1, amd64 only)

To use RTI Connext DDS there are full-suite install options available for university, purchase or evaluation or you can install a libraries-only Debian package of RTI Connext 5.3.1, available from the OSRF Apt repository under a non-commercial license.

To install the libs-only Debian package:

sudo apt update && sudo apt install -q -y rti-connext-dds-5.3.1

You will need to accept a license agreement from RTI, and will find an ‘rti_license.dat file in the installation.

Add the following line to your .bashrc file pointing to your copy of the license (and source it).

export RTI_LICENSE_FILE=path/to/rti_license.dat

All options need you to source the setup file to set the NDDSHOME environment variable:

cd /opt/rti.com/rti_connext_dds-5.3.1/resource/scripts && source ./rtisetenv_x64Linux3gcc5.4.0.bash; cd -

Note: the above may need modification to match your RTI installation location

If you want to install the Connext DDS-Security plugins please refer to this page.

OSX source install

RTI Connext (5.3)

If you would like to also build against RTI Connext DDS there are options available for university, purchase or evaluation

You also need a Java runtime installed to run the RTI code generator, which you can get here.

After installing, run RTI launcher and point it to your license file.

Source the setup file to set the NDDSHOME environment variable before building your workspace.

The setup file and path will depend on your macOS version.

# macOS 10.12 Sierra
source /Applications/rti_connext_dds-5.3.1/resource/scripts/rtisetenv_x64Darwin16clang8.0.bash
# macOS 10.13 High Sierra
source /Applications/rti_connext_dds-5.3.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash

You may need to increase shared memory resources following https://community.rti.com/kb/osx510

If you want to install the Connext DDS-Security plugins please refer to this page.

OSX binary install

Enable Connext support

To use RTI Connext DDS there are options available for university, purchase or evaluation

After installing, run RTI launcher and point it to your license file.

Set the NDDSHOME environment variable:

export NDDSHOME=/Applications/rti_connext_dds-5.3.1

You may need to increase shared memory resources following https://community.rti.com/kb/osx510.

If you want to install the Connext DDS-Security plugins please refer to this page.

Windows source install

RTI Connext 5.3

If you would like to also build against RTI Connext DDS there are options available for university, purchase or evaluation

After installing, use the RTI Launcher to load your license file.

Then before building ROS 2, set up the Connext environment:

call "C:\Program Files\rti_connext_dds-5.3.1\resource\scripts\rtisetenv_x64Win64VS2017.bat"

Note that this path might need to be slightly altered depending on where you selected to install RTI Connext DDS, and which version of Visual Studio was selected. The path above is the current default path as of version 5.3.1, but will change as the version numbers increment in the future.

If you want to install the Connext DDS-Security plugins please refer to this page.

Windows binary install

RTI Connext

To use RTI Connext DDS there are options available for university, purchase or evaluation

After installing, run RTI launcher and point it to your license file.

Set the NDDSHOME environment variable:

set "NDDSHOME=C:\Program Files\rti_connext_dds-5.3.1"

If you want to install the Connext DDS-Security plugins please refer to this page.