ROS 2 RMW for int2DDS

Overview

rmw_int2dds_cpp lets ROS 2 applications run on top of int2DDS, a Rust implementation of the OMG DDS standard (RTPS 2.5). It implements the ROS 2 rmw C interface so that any ROS 2 stack (rclcpp, rclpy, ros2 CLI, tools) can use int2DDS as its middleware via RMW_IMPLEMENTATION=rmw_int2dds_cpp.

Status: work in progress — APIs and test results are being stabilized ahead of a request for Tier 3 status in REP 2000.

Supported ROS 2 distributions

Supported platforms

• Windows: verified on Windows 11 with Visual Studio 2019. See Windows and macOS.
• macOS: verified on macOS 15.
• OpenEmbedded / Yocto: verified with a local layer that adds the rmw_int2dds recipes. arm32 needs one change in meta-ros: in meta-ros2/classes/ros_ament_cmake.bbclass, replace inherit cmake python3native with inherit cmake python3targetconfig. Without it, the ROS 2 message packages fail with a LONG_BIT error before rmw_int2dds is reached (ros/meta-ros#1205, fix). Boards running an older kernel also need OLDEST_KERNEL set to that kernel (tested on NanoPi, kernel 4.14: OLDEST_KERNEL = "4.14").

Installation

From the ROS 2 apt repository

sudo apt update
sudo apt install ros-humble-rmw-int2dds-cpp
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_int2dds_cpp

apt install pulls in the int2dds_ffi_vendor package automatically. The RMW library and its ament-index marker install into /opt/ros/humble/, so once the environment is sourced only RMW_IMPLEMENTATION needs to be set.

Supported: humble / jazzy / lyrical / rolling × amd64 / arm64 (rolling: testing repository only).

From the ROS 2 RPM repository (RHEL)

With the ROS 2 RPM repository set up as in the ROS 2 RHEL installation guide:

sudo dnf install ros-humble-rmw-int2dds-cpp
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_int2dds_cpp

Latest version (testing repository or source build)

The newest release is available from the ROS 2 testing repository:

sudo apt install -y ros2-testing-apt-source
sudo apt update
sudo apt install ros-humble-rmw-int2dds-cpp

To build from source instead, follow Quick Start.

Windows and macOS

There are no binary packages of rmw_int2dds for Windows or macOS: build it from source on top of a ROS 2 installation made with the ROS 2 installation guide for that platform. int2dds_ffi_vendor downloads the FFI for the host from the int2DDS releases.

Windows, in an x64 Native Tools Command Prompt for VS 2019. The commands below assume ROS 2 Humble in C:\pixi_ws\ros2-windows; change the paths to match your installation. The ROS 2 Windows binaries are Release builds, so build rmw_int2dds as Release too:

```bat cd /d C:\pixi_ws pixi shell call C:\pixi_ws\ros2-windows\local_setup.bat

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Contributing to rmw_int2dds_cpp

Thank you for your interest in contributing! This package is the ROS 2 RMW binding for int2DDS. For contributions to the underlying DDS core, see the int2DDS repository.

Code of Conduct

This project adheres to a Code of Conduct.

Contributor License Agreement (CLA)

By submitting a pull request you agree to the project CLA (individual / corporate).

Development Environment

Prerequisites

• A supported ROS 2 distribution (Humble or Jazzy) installed and sourced
• colcon build tool
• A C++17 compiler (GCC/Clang/MSVC), CMake >= 3.14.4
• The int2DDS core library available as a dependency

Workspace setup

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/IntellectusCorp/rmw_int2dds.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

Building and Testing

# Build
colcon build --packages-up-to rmw_int2dds_cpp

# Run this package's tests
colcon test --packages-select rmw_int2dds_cpp
colcon test-result --verbose

# Run the RMW interface conformance suite against int2DDS
RMW_IMPLEMENTATION=rmw_int2dds_cpp \
  colcon test --packages-select test_rmw_implementation

Tier 3 listing requires the full test_rmw_implementation suite to pass.

Code Style

This package follows the ROS 2 Code Style and Language Versions guide:

• C++17, max line length 100, .hpp/.cpp extensions
• Linters run as tests via ament_lint_auto + ament_lint_common (ament_clang_format, ament_cpplint, ament_uncrustify, ament_cppcheck)
• Build with -Wall -Wextra -Wpedantic

# Run linters
colcon test --packages-select rmw_int2dds_cpp --ctest-args -R lint

Commit Messages

Use the format TYPE: short description (max 72 chars), imperative mood. Types: FEAT, FIX, DOCS, STYLE, REFACTOR, TEST, CHORE, PERF. Reference issues with Fixes #123.

Branch Naming

feature/, fix/, hotfix/, docs/, refactor/, test/ prefixes; lowercase with hyphens (e.g., feature/qos-deadline).

Pull Request Process

1. Rebase on the latest upstream/main.
2. Ensure colcon build and colcon test pass, including linters.
3. Update documentation and CHANGELOG.rst if behavior or APIs changed.
4. Open a PR with a clear summary, rationale, and testing notes.
5. Request review from maintainers.

Reporting Bugs

Open a GitHub issue with: description, reproduction steps, expected vs actual behavior, environment (OS, ROS 2 distro, int2DDS version), and logs. For security issues, follow SECURITY.md instead.

License

By contributing, you agree your contributions are licensed under the Apache License 2.0.

License of contributions

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that

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