ROS 2 and RTI Connext

Get the most from the ROS 2 ecosystem of robotics tools and packages, with the power and performance of RTI® Connext.

• 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
    • 2.4.2. 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
  • 3.2. 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