You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Humble.
GurumNetworks GurumDDS
rmw_gurumdds is a implementation of the ROS middleware interface using GurumNetworks GurumDDS. More information about GurumDDS is available on our website: https://gurum.cc/index_eng
Prerequisites
The following description assumes that you have completed the ‘Environment setup’ process from the Installing ROS 2 via Debian Packages or from the Building ROS 2 on Ubuntu Linux.
rmw_gurumdds requires version of GurumDDS-2.7.x. Debian packages of GurumDDS is provided in the ROS 2 apt repositories on linux. Windows binary installer of GurumDDS will be supported soon.
GurumDDS requires a license. See the next page: https://gurum.cc/free_trial_eng.html After getting a license, move it to the following location.
DDS Version |
License Location |
|---|---|
<= 2.7.2860 |
/etc/flame |
>= 2.7.2861 |
/etc/gurumnet |
Install packages
The easiest way is to install from ROS 2 apt repository. When ros-galactic-rmw-gurumdds-cpp is installed, gurumdds-2.7 is also installed.
sudo apt install ros-galactic-rmw-gurumdds-cpp
Build from source code
Building from source code is also another way to install.
First, clone rosidl_typesupport_gurumdds and rmw_gurumdds in the ROS 2 workspace source directory.
cd ros2_ws/src
git clone https://github.com/ros2/rmw_gurumdds ros2/rmw_gurumdds
git clone https://github.com/ros2/rosidl_typesupport_gurumdds ros2/rosidl_typesupport_gurumdds
Then, install necessary packages for GurumDDS.
cd ..
rosdep install --from src -i --rosdistro galactic
Finally, run colcon build.
colcon build --symlink-install
Switch to rmw_gurumdds
Switch from other rmw to rmw_gurumdds by specifying the environment variable.
export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
Run the talker and listener
Now run talker and listener to test GurumDDS.
Don’t forget to set up environment by setup script.
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_cpp listener