RTI Connext and ROS 2
1. Why Connext?
2. Installing the Connext RMW
2.1. Version Compatibility
2.2. One-Step RTI Connext Robotics Toolkit Installation (Ubuntu AMD64)
2.3. Connext Installation Options
2.4. ROS 2 and Connext RMW Installation
2.4.1. Ubuntu AMD/ARM
2.4.1.1. ROS 2 installation
2.4.1.2. Connext installation
2.4.1.3. Connext RMW installation
2.4.2. Windows
2.4.3. Other systems
2.5. 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. Tutorial: RTI Connext Robotics Toolkit
4.1. New ROS 2 Users
4.2. Existing ROS 2 Kilted Installations
4.3. Unattended Installation (Advanced)
4.3.1. Managing the default free license
4.3.2. Via debconf
4.3.3. Via environment variables
5. Interoperating Connext 7.3.0 or Earlier with ROS 2
6. Interoperating Connext 7.5.0 or Later with ROS 2
6.1. Understanding Topic and Type Aliasing
6.1.1. ROS 2 Topic and Type Mangling
6.1.2. Connext Topic and Type Aliasing
6.2. Configuring ROS 2 Topic and Type Aliasing in Connext
6.2.1. dds.ros.enable_interoperability
6.2.2. dds.ros.use_mangled_names_as_default
6.3. Enabling Connext 7.5.0 or Later with any ROS RMW
6.3.1. Publisher/Subscriber Tutorial for Connext 7.5.0+ with any ROS RMW
6.3.2. Service/Client Tutorial for Connext 7.5.0+ with any ROS RMW
7. Release Notes
7.1. Supported Platforms
7.2. Version 7.3.0.0-7-1
7.2.1. What’s New in 7.3.0.0-7-1
Copyrights and Notices
RTI Connext and ROS 2
Index
Index