RTI Connext and ROS 2
Kilted
1. Why Connext?
2. Installing the Connext RMW
2.1. Version Compatibility
2.2. Connext Installation Options
2.3. ROS 2 and Connext RMW Installation
2.3.1. Ubuntu AMD/ARM
2.3.1.1. ROS 2 installation
2.3.1.2. Connext installation
2.3.1.3. Connext RMW installation
2.3.2. Windows
2.3.3. Other systems
2.4. Binary ROS 2 Packages and Connext Version
3. Understanding the Connext RMW
3.1. QoS in ROS 2 and Connext
3.1.1. DomainParticipantFactory
3.1.2. DomainParticipant
3.1.3. Endpoint
3.1.3.1. DataWriter
3.1.3.2. DataReader
3.2. Keyed Topics
4. Interoperating Connext 7.3.0 or Earlier with ROS 2
5. Interoperating Connext 7.5.0 or Later with ROS 2
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
Copyrights and Notices
RTI Connext and ROS 2
Index
Index