Port

There are various strategies that can be used to have DDS applications communicate between each other despite the fact that one or more of these applications are protected by a firewall. This HOWTO focuses in the situation where there is a desire to use static configuration (i.e. manually open specific ports or multicast addresses in the firewall) and the applications are protected with Firewalls but are not behind Network Address Translators (NATs).
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Xenomai is a real-time development framework that provides interface-agnostic hard real-time support to user-space applications in a Linux environment. The purpose of this HOWTO is to describe the installation and configuration of a Xenomai environment to develop applications using RTI Connext DDS.
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