Context
The first 3 versions of the DDS specification were released in 2004, 2005, and 2006 respectively. Version 2.0 of RTPS was released in 2008:
DDS OMG Specification Versions:
1.0: Dec 2004
1.1: Dec 2005
1.2: Dec 2006
1.4: Mar 2015
RTPS OMG Specification Versions:
2.0: April 2008
2.1: Nov 2010
2.2: Sep 2014
2.3: May 2019
2.5: Apr 2022
The Question
Was RTPS version 1 used between 2004 and 2008 as the interoperability wire protocol for DDS? If not, how was DDS communication specified?
Sources
- OMG DDSI-RTPS Specification Webpage
- OMG DDS Specification Webpage
From OMG's perspective, the RTPS specification for an interoperability protocol for DDS was adopted in April, 2008.
However, both the DDS API as well as the underlying interoperability protocol has roots outside of OMG. The DDS API itself was first adopted in 2003, and the first implemenations of DDS by different organizations did not interoperate.
RTI's version of DDS, at that time called RTI DDS, used the RTPS 1.x on-the-wire protocol which was a specification developed by RTI and then released by IDA, Interface for Distributed Automation group, as RTPS version 1.0 in 2001. RTI continued to develop the RTPS protocol through version 1.2.
After the OMG DDS specification was released, RTI worked with other OMG members to refine and update the RTPS version as the interoperability protocol for DDS...and as you saw, it was finally formally adopted in 2008.
That clears it up!
Many thanks for the prompt and descriptive response!