You're reading the documentation for a development version. For the latest released 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-rolling-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 rolling ros2/rmw_gurumdds

Install dependencies:

cd ..
rosdep install --from src -i --rosdistro rolling

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.