Success-Plan ServicesUsing Connext with ROS 2
There are several options for using Connext with ROS 2:
- rmw_connextdds supports RTI Connext 5.3.1 or later, and has become the official RMW implementation for Connext starting with the ROS 2 Galactic release. The implementation replaces the previous rmw_connext_cpp, which is now deprecated. Critical performance bottlenecks are resolved by rmw_connextdds. rmw_connext_cpp remains available in older ROS 2 releases, up to Foxy, and only provides support for RTI Connext 5.3.1. rmw_connextdds may also be used with older releases, as far back as Dashing, if built from source.
- rmw_connextddsmicro, is a companion RMW implementation which supports RTI Connext Micro 3 or later. This implementation is only available as a source package.
The following table summarizes the available RMW implementations and their compatibility with different ROS 2 releases:
|
RMW |
Included in ROS 2 Releases |
Compatible with ROS 2 Releases |
Compatible with Connext version |
|---|---|---|---|
|
rmw_connextdds |
Galactic, Rolling |
D - G, Rolling |
5.3.1, 6.x |
|
rmw_connextddsmicro |
— |
D - G, Rolling |
Micro 3.x |
|
rmw_connext_cpp |
Ardent - Foxy |
A - G, Rolling |
5.3.1 |
Please contact your local RTI representative or email sales@rti.com for more information on using Connext with ROS/ROS 2.