RMW

The ROS 2 Middleware Interface provides an abstraction layer to different DDS implementations for communication with the ROS 2 Client Library. This package contains the rmw interface for DDS implementation and some general functionality useful for implementers.

For more information, see https://design.ros2.org/articles/ros_middleware_interface.html

Interface and Features

For specific information about the rmw interface and features, see its api docs.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rmw

7.1.0 (2023-04-12)

• Dynamic Subscription (BONUS: Allocators): rmw (#353)
• Runtime Interface Reflection: rmw (#340)
• [rmw] Improve handling of dynamic discovery (#338)
• rmw_send_reqponse returns RMW_RET_TIMEOUT. (#350)
• Add a note about asynchronicity of discovery. (#352)
• Add matched event support (#331)
• Add type hash to rmw_topic_endpoint_info_t (rep2011) (#348)
• Add in inconsistent topic defines and data structures. (#339)
• Update documented expectations for GIDs (#335)
• Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Jacob Perron, Tomoya Fujita, William Woodall, methylDragon

7.0.1 (2023-02-24)

• Fix rmw->rwm typo (#347)
• Contributors: Emerson Knapp

7.0.0 (2023-02-13)

• Add rmw count clients, services (#334)
• make writer_guid uint8_t[] instead of int8_t for consistency with rmw_gid_t (#329)
• Update rmw to C++17. (#346)
• Reduce GID storage to 16 bytes. (#345)
• Move the RMW_CHECK_TYPE_IDENTIFIERS_MATCH macro to a C header. (#343)
• [rolling] Update maintainers - 2022-11-07 (#337)
• Contributors: Audrow Nash, Brian, Chris Lalancette, Minju, Lee

6.4.0 (2022-11-02)

• Remove unused test_loaned_message_sequence.cpp (#336)
• callback can be NULL to clear in Listener APIs. (#332)
• Add rmw_get_gid_for_client method (#327)
• Contributors: Brian, Nikolai Morin, Tomoya Fujita

6.3.1 (2022-09-13)

6.3.0 (2022-05-03)

• Add 'best available' QoS policies (#320) The best available policy should select the highest level of service for the QoS setting while matching with the majority of endpoints. For example, in the case of a DDS middleware subscription, this means:
  • Prefer reliable reliability if all existing publishers on the same topic are reliable, otherwise use best effort.
  • Prefer transient local durability if all existing publishers on the same topic are transient local, otherwise use volatile.
  • Prefer manual by topic liveliness if all existing publishers on the same topic are manual by topic, otherwise use automatic.
  • Use a deadline that is equal to the largest deadline of existing publishers on the same topic.
  • Use a liveliness lease duration that is equal to the largest lease duration of existing publishers on the same topic.
• Contributors: Jacob Perron

6.2.0 (2022-04-29)

6.1.0 (2022-03-25)

• Add content filtered topics support. (#302)
• Add sequence numbers to rmw_message_info_t. (#318)
• Add rmw_feature_supported(). (#318)
• Contributors: Chen Lihui, Ivan Santiago Paunovic

6.0.0 (2022-03-01)

• Add EventsExecutor (#286)
• Document that rmw_wait() SHOULD use a monotonic clock (#316)
• Install headers to include/${PROJECT_NAME} (#317)
• Update rmw_server_is_available() API documentation. (#277)
• Contributors: Ivan Santiago Paunovic, Michel Hidalgo, Shane Loretz, iRobot ROS

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