RTI Connext 7.7.0 and ROS 2 Lyrical Logo
  • 1. Why Connext?
  • 2. Installing the Connext RMW
    • 2.1. Version Compatibility
    • 2.2. One-Step RTI Connext Robotics Toolkit Installation (Ubuntu)
    • 2.3. Multi-Step Installation
      • 2.3.1. Connext installation options
      • 2.3.2. ROS 2 and Connext RMW installation
        • 2.3.2.1. Ubuntu AMD/ARM
        • 2.3.2.2. Windows
        • 2.3.2.3. Other systems
  • 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 Lyrical 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 7.7.0 or Later with ROS 2 Lyrical
    • 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 7.7.0+ with Connext RMW
      • 5.3.1. Before you begin
      • 5.3.2. Publisher/subscriber tutorial for Connext 7.7.0+ with Connext RMW
      • 5.3.3. Service/client tutorial for Connext 7.7.0+ with Connext RMW
    • 5.4. Enabling Connext 7.7.0+ with any ROS RMW
      • 5.4.1. Publisher/Subscriber Tutorial for Connext 7.7.0+ with any ROS RMW
      • 5.4.2. Service/Client Tutorial for Connext 7.7.0+ with any ROS RMW
    • 5.5. Interactions with RTI Tools
    • 5.6. Using RTI Security Plugins with Topic Aliasing
      • 5.6.1. Update Permissions and Governance Documents
      • 5.6.2. If You Do Not Update Permissions and Governance Documents
        • 5.6.2.1. Permissions
        • 5.6.2.2. Governance
  • 6. Interoperating Connext 7.3.0 or Earlier with ROS 2 Lyrical
  • 7. Release Notes
    • 7.1. Supported Platforms
    • 7.2. Connext RMW
      • 7.2.1. What’s new in the Lyrical Connext RMW (2026/05)
        • 7.2.1.1. Lyrical Connext RMW is now compiled against Connext Professional 7.7.0
        • 7.2.1.2. Enabled topic and type name demangling by default, improving interoperability with Connext applications
        • 7.2.1.3. Debian package rti_connext_dds-7.7.0-ros now depends on official RTI Connext 7.7 Debian packages
        • 7.2.1.4. Introduced new variable to better manage publication mode selection
        • 7.2.1.5. Deprecations and removals
      • 7.2.2. What’s fixed in the Lyrical Connext RMW (2026/05)
        • 7.2.2.1. Serialized key size calculation error caused DDS sample writes to fail
    • 7.3. RTI Connext Robotic Toolkit
      • 7.3.1. What’s new in the RTI Connext Robotics Toolkit Lyrical 7.7.0 (2026/05)
  • Copyrights and Notices
RTI Connext 7.7.0 and ROS 2 Lyrical
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