rmw_iceoryx2

1. Introduction
2. Feature Completeness
3. Performance
4. Setup
5. FAQ
6. Commercial Support
7. Maintainers
8. Contributors

Introduction

[!IMPORTANT] The implementation is still in an “alpha” stage. Not all functionality is implemented/stable so surprises are to be expected.

If encountering problems, please create an issue so we can converge to stability :).

ROS 2 rmw implementation for iceoryx2.

iceoryx2 is a shared memory IPC middleware written in Rust for improved memory safety and easier safety certifiability. The implementation leverages the C++ bindings to the Rust core.

Feature Completeness

Performance

[!NOTE]

• The latency measurement can be reproduced with these instructions
• The measurements were taken on a Ryzen 3950X without a fine-tuned OS - lower latency could be expected on a fine-tuned target
• The performance_test tool uses rmw_iceoryx2 through the ROS 2 stack, which naturally introduces some overhead compared to pure iceoryx2
• The minimal possible latency achievable with iceoryx2 is in the nanosecond range

Setup

1. Set up your environment for building ROS 2 from source

2. Create a ROS 2 workspace:

    mkdir -p ~/workspace/src
    

1. Clone the ROS 2 source:

    vcs import --input https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos ~/workspace/src
    

1. Clone iceoryx and iceoryx2 source:

    vcs import --force --input https://raw.githubusercontent.com/ekxide/rmw_iceoryx2/refs/heads/main/iceoryx.repos ~/workspace/src
    

1. Clone rmw_iceoryx2:
   1. Either main or a specific version tag e.g. v0.1.0

    git clone -b main https://github.com/ekxide/rmw_iceoryx2.git ~/workspace/src/rmw_iceoryx2/
    

1. Build ROS 2 with rmw_iceoryx2 and the demo nodes:

    cd ~/workspace/
    RMW_IMPLEMENTATION=rmw_iceoryx2_cxx colcon build --symlink-install --packages-up-to ros2cli_common_extensions rmw_iceoryx2_cxx rmw_iceoryx2_cxx_demo_nodes
    

1. Verify the build:

    source ~/workspace/install/setup.zsh # or setup.bash
    ros2 doctor --report
    

The middleware should be properly set:

``` RMW MIDDLEWARE middleware name : rmw_iceoryx2_cxx

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