rmw_fastrtps_cpp
A ROS 2 middleware implementation that provides the interface between ROS 2 and the eProsima Fast DDS communication layer.
What is rmw_fastrtps_cpp?
rmw_fastrtps is the default middleware implementation for ROS 2, acting as a bridge that allows ROS 2 applications to communicate using the eProsima Fast DDS (formerly Fast RTPS) protocol. It provides reliable, real-time data exchange for robotic systems by translating ROS 2 APIs into Fast DDS operations. The project includes two variants: rmw_fastrtps_cpp for compile-time type support and rmw_fastrtps_dynamic_cpp for run-time introspection.
ROS 2 developers and roboticists building real-time robotic systems who need configurable, high-performance middleware for inter-process communication. It is particularly suited for those requiring fine-grained control over Quality of Service (QoS) and transport layers.
Developers choose rmw_fastrtps because it is the default and most integrated middleware for ROS 2, offering extensive configurability, high performance through features like zero-copy data sharing, and compatibility with standard ROS 2 APIs. Its dual implementation and support for advanced QoS tuning via XML files provide flexibility not always available in alternative RMW implementations.
Overview
Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.
Use Cases
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