2. Installing the Connext RMW

There are multiple vendor-specific implementations of the ROS 2 RMW API, including Connext. (For more information, see the ROS 2 Lyrical documentation.) This chapter describes how to install the Connext RMW.

2.1. Version Compatibility

Each ROS 2 version is built and tested with a specific Connext version to ensure functional and ABI compatibility. Using the versions in the table below guarantees that all libraries and tools work together as intended.

Table 2.1 ROS 2 and Connext Compatibility

ROS 2 Version

Connext Version

Lyrical

7.7.0

Kilted

7.3.0

Jazzy

6.0.1

Humble

6.0.1

Warning

When building from source, other version combinations may work but are not supported by RTI and are used at your own risk. Using a Connext version with a binary ROS 2 installation not shown in Table 2.1 may result in unexpected behavior.

When using a binary distribution, ROS 2 and Connext must be ABI-compatible, so using a different Connext version can lead to runtime failures. For example, Lyrical binaries are compiled using Connext 7.7.0. If you want to use the Connext RMW with an underlying Connext version different from 7.7.0, the ABIs are not going to match, resulting in application crashes or unpredictable behavior hard to diagnose. For that reason, if you want to use a Connext version that’s not the default one (not recommended) in a specific ROS 2 release, you should build the Connext RMW from source.

2.2. One-Step RTI Connext Robotics Toolkit Installation (Ubuntu)

If you are on Ubuntu, you can install ROS 2 and Connext in a single step using RTI Connext Robotics Toolkit Debian packages (rti-connext-robotics-toolkit-lyrical-7.7.0-desktop). See the Tutorial chapter for detailed installation instructions.

Once installed, your system is ready to run ROS 2 applications powered by Connext, as well as standalone Connext DDS applications, RTI Infrastructure Services, and RTI Tools.

2.3. Multi-Step Installation

If you are not on Ubuntu, or if you prefer to install ROS 2 and Connext separately, follow the two-step process detailed in the sections below:

  1. Install Connext

  2. Install ROS 2 and the Connext RMW

2.3.1. Connext installation options

A Connext installation provides the libraries needed by the Connext RMW. Without a Connext installation, the Connext RMW won’t be able to find the libraries and will not work.

To install Connext for ROS 2, there are several options. The choice depends on your needs, platform, and licensing requirements. All options ultimately provide the same Connext libraries and headers, but differ in licensing, features, and installation process.

Choose the Connext installation option that best fits your specific use case:

Table 2.2 Connext for ROS 2 - Installation Options

Option

Common Use Case

Key Characteristics
ROS-hosted .deb packages
(only for Ubuntu AMD64)
Installation instructions

Typically used by the ROS 2 community

  • Very stripped-down Connext installation

  • Non-commercial license is not eligible for production
RTI official .deb packages
(both Ubuntu AMD64 and ARM64)
Installation instructions

Typically used by prospects or customers evaluating the Connext RMW

  • Complete set of Connext tools

  • Requires RTI-provided license suitable for production use
RTI installers
(RTI download)
Installation instructions

Typically used by prospects or customers evaluating the Connext RMW in Windows or macOS

  • Multi-step manual installation

  • Requires RTI-provided license suitable for production use

Important

During the Connext installation process, you need to install a license activation file (rti_license.dat). If you do not have one, register at https://www.rti.com/ros.

2.3.2. ROS 2 and Connext RMW installation

Once Connext is installed, install ROS 2 with the Connext RMW. Follow the official ROS 2 installation guide for your chosen distribution (for example, https://docs.ros.org/en/lyrical/Installation.html).

Before you start, note that ROS 2 is available in different installation formats. To ensure a smooth setup, choose the format that best matches your operating system and deployment goals:

  • Binary packages:

    • Debian (.deb) packages (Ubuntu systems only). This is the recommended and easiest way to get started. The packages use your system’s package manager for installation.

    • Binary archives (Linux and Windows systems). This is a good option if you do not have administrator privileges or prefer not to use a package manager.

  • Source build (available in Linux, Windows, and macOS systems). This option is useful if you want to install specific packages or modify packages, or when no binary packages are available for your specific platform.

2.3.2.1. Ubuntu AMD/ARM

This section explains how to install ROS 2 with the Connext RMW on Ubuntu, whether you are using an AMD64 or ARM64 system. There are two primary steps:

  • Install ROS 2

  • Install the Connext RMW

2.3.2.1.1. ROS 2 installation

Follow the official ROS 2 instructions for your chosen installation format:

2.3.2.1.2. Connext RMW installation

When installed through Debian (.deb) packages, ROS 2 includes the default RMW (rmw_fastdds). To use any other RMW, you need to install the corresponding .deb package

As with ROS 2, the Connext RMW also comes in multiple installation formats, linked below:

2.3.2.2. Windows

On Windows systems, ROS 2 does not provide Connext binaries, so you must install Connext first. Download and install Connext following the RTI Connext Professional Installation Guide.

ROS 2 releases for Windows systems are available from the ROS 2 GitHub releases page. You can install ROS 2 in two ways:

  • Binary archives. Follow the official guide. The Connext RMW is already included in the binary archive, so no separate installation is required.

  • ROS 2 source build. Follow the official guide. When building from source, the Connext RMW is compiled along with the rest of ROS 2.

2.3.2.3. Other systems

To build ROS 2 in any other environment, check the alternatives provided by the ROS 2 documentation.