備註

您正在閱讀 ROS 2 的舊版但仍然受支援的文件。對於最新版本的資訊，請參見 Kilted。

RMW implementations

By default, ROS 2 uses DDS as its middleware. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors. There is currently support for eProsima’s Fast DDS, RTI’s Connext DDS, Eclipse Cyclone DDS, and GurumNetworks GurumDDS.

It also supports non DDS RMW implementations such as Zenoh.

See REP-2000 for supported RMW vendors by distribution.

The default RMW vendor is eProsima’s Fast DDS.

Review all the possible options:

• DDS implementations explains how to use DDS.

• Non DDS implementations explains how to use non DDS implementations.