5. Interoperating Connext 7.5.0 or Later with ROS 2

This chapter describes how to enable a standalone Connext 7.5.0 or later application to communicate with a ROS 2 application. This approach is ideal if you have an existing ROS 2 system that you cannot change, but you want to utilize the many features of Connext in additional applications. Connext 7.5.0 or later applications make this easy to do.

• 5.1. Understanding Topic and Type Aliasing
  • 5.1.1. ROS 2 Topic and Type Mangling
  • 5.1.2. Connext Topic and Type Aliasing
• 5.2. Configuring ROS 2 Topic and Type Aliasing in Connext
  • 5.2.1. dds.ros.enable_interoperability
  • 5.2.2. dds.ros.use_mangled_names_as_default
• 5.3. Enabling Connext 7.5.0 or Later with any ROS RMW
  • 5.3.1. Publisher/Subscriber Tutorial for Connext 7.5.0+ with any ROS RMW
  • 5.3.2. Service/Client Tutorial for Connext 7.5.0+ with any ROS RMW