5.1.7.4. 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

5.1.7.4.1. 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-2.8.x. Debian packages of GurumDDS are provided in the ROS 2 apt repositories on ubuntu. 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 requesting a trial license, please download the license from the license homepage. After getting a license, move it to the following location.

DDS Version	License Location
<= 2.7.2860	/etc/flame
>= 2.7.2861	/etc/gurumnet
2.8.x	/etc/gurumnet

5.1.7.4.2. Install packages¶

The easiest way is to install from ROS 2 apt repository. When ros-iron-rmw-gurumdds-cpp is installed, gurumdds-2.8 is also installed.

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

5.1.7.4.3. Build from source code¶

Building from source code is also another way to install.

First, clone rmw_gurumdds in the ROS 2 workspace source directory.

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

Then, install necessary packages for GurumDDS.

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

Finally, run colcon build.

colcon build --symlink-install

5.1.7.4.4. Switch to rmw_gurumdds¶

Switch from other rmw to rmw_gurumdds by specifying the environment variable.

export RMW_IMPLEMENTATION=rmw_gurumdds_cpp

5.1.7.4.5. 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