5.1.7.4. GurumNetworks GurumDDS

rmw_gurumdds is an implementation of the ROS middleware interface using GurumNetworks GurumDDS. For more information about GurumDDS, visit the GurumNetworks website.

5.1.7.4.1. Prerequisites

This guide assumes you have completed the ROS 2 environment setup process, either by Installing ROS 2 via Deb Packages or Building ROS 2 from source on Ubuntu.

Version Requirements (see the README for details):

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.

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

5.1.7.4.2. Installation

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

sudo apt install ros-iron-rmw-gurumdds-cpp

This installs both rmw_gurumdds_cpp and gurumdds.

Option 2: Build from source code

1. Clone the repository

cd ros2_ws/src
git clone https://github.com/ros2/rmw_gurumdds -b iron ros2/rmw_gurumdds

2. Install dependencies:

cd ..
rosdep install --from src -i --rosdistro iron

3. Build the worksapce using Colcon:

colcon build --symlink-install

5.1.7.4.3. Switch to rmw_gurumdds

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

export RMW_IMPLEMENTATION=rmw_gurumdds_cpp

For more information on working with multiple RMW implementations, see Working with multiple RMW implementations.

5.1.7.4.4. Testing the installation

Run the talker and listener nodes to verify your installation:

ros2 run demo_nodes_cpp talker

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.