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rmw_dps

Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe for IoT (DPS).

DPS is a new protocol that implements the publish/subscribe (pub/sub) communication pattern. For more information see the project's documentation.

Building

This project adds two build targets: dps_for_iot_cmake_module and rmw_dps_cpp. dps_for_iot_cmake_module builds the DPS libraries, and requires the SCons and python-config tools (make sure to run rosdep install as usual).

rmw_dps_cpp is the rmw implementation. To build, either add rmw_dps to to your local ros2.repos or explicitly clone it.

For the first option, add the following block to ros2.repos and follow the ROS 2 instructions for updating and building.

  ros2/rmw_dps:
    type: git
    url: https://github.com/ros2/rmw_dps.git
    version: master

For the second option, clone this repository using the command below and build ROS 2.

git clone https://github.com/ros2/rmw_dps src/ros2/rmw_dps

Implementation status

Work is ongoing to complete full support for all rmw APIs.

Completed:

• Publishers and subscribers, services and clients
• Message serialization and deserialization
• Discoverability

To be completed:

• Full support of QoS
• Pass through security configuration to DPS