.. redirect-from::

   Working-with-GurumNetworks-GurumDDS

GurumNetworks GurumDDS
======================
``rmw_gurumdds`` is an implementation of the ROS middleware interface using GurumNetworks GurumDDS. For more information about GurumDDS, visit the `GurumNetworks website <https://gurum.cc/index_eng>`_.


Prerequisites
-------------
This guide assumes you have completed the ROS 2 environment setup process, either by :doc:`Installing ROS 2 via Deb Packages <../Ubuntu-Install-Debs>` or :doc:`Building ROS 2 from source on Ubuntu <../Alternatives/Ubuntu-Development-Setup>`.

Version Requirements (`see the README for details <https://github.com/ros2/rmw_gurumdds>`_):

================  ================
ROS 2 Distro      GurumDDS Version
================  ================
rolling           >= 3.2.0
jazzy             >= 3.2.0
humble            3.1.x
================  ================

Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu.
Windows binary installer of GurumDDS will be available soon.

You can obtain a free trial license from the `GurumDDS Free Trial page <https://gurum.cc/free_trial_eng.html>`_.

After acquiring a license, place it in the following location: ``/etc/gurumnet``


Installation
------------
Option 1: Install from the ROS 2 apt repository (Recommended)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. code-block:: bash

   sudo apt install ros-{DISTRO}-rmw-gurumdds-cpp

This installs both ``rmw_gurumdds_cpp`` and ``gurumdds``.

Option 2: Build from source code
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1. Clone the repository

.. code-block:: bash

   cd ros2_ws/src
   git clone https://github.com/ros2/rmw_gurumdds -b {DISTRO} ros2/rmw_gurumdds

2. Install dependencies:

.. code-block:: bash

   cd ..
   rosdep install --from src -i --rosdistro {DISTRO}

3. Build the worksapce using Colcon:

.. code-block:: bash

   colcon build --symlink-install


Switch to rmw_gurumdds
----------------------
Switch from other RMW implementations to rmw_gurumdds by setting the environment variable:

.. code-block:: bash

   export RMW_IMPLEMENTATION=rmw_gurumdds_cpp

For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`.


Testing the installation
------------------------
Run the ``talker`` and ``listener`` nodes to verify your installation:

.. code-block:: bash

   ros2 run demo_nodes_cpp talker

.. code-block:: bash

   ros2 run demo_nodes_cpp listener

If the nodes communicate successfully, your installation is working correctly.

.. note:: Remember to source your ROS 2 setup script before running these commands.