備註

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DDS implementations

These are the available DDS implementations:

• Working with Eclipse Cyclone DDS explains how to utilize Cyclone DDS.

• Working with eProsima Fast DDS explains how to utilize Fast DDS.

• Working with RTI Connext DDS explains how to utilize RTI Connext DDS.

• Working with GurumNetworks GurumDDS explains how to utilize GurumDDS.

If you would like to use one of the other vendors you will need to install their software separately before building. The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly.

Once you’ve installed a new RMW vendor, you can change the vendor used at runtime: Working with Multiple RMW Implementations.