eProsima Fast DDS

An open-source DDS implementation from the Spanish company eProsima, the default middleware in several ROS 2 releases.

Fast DDS is an open-source DDS (Data Distribution Service) implementation developed by the Spanish company eProsima, written in C++, formerly named Fast RTPS (RTPS being the wire protocol underlying DDS). ROS 2 connects to a specific DDS implementation through its RMW interface, with the package for this one being rmw_fastrtps_cpp; mainstream ROS 2 distributions such as Humble and Jazzy use Fast DDS by default. It supports shared-memory transport and a Discovery Server mode (which cuts down on node-discovery traffic in large networks), among other features. Newcomers who run into topics not being received, or cross-machine communication not working, often end up needing to understand Fast DDS's XML configuration and discovery mechanism.

ExampleWith many robots online at once, discovery traffic gets too heavy; switching to Fast DDS's Discovery Server mode puts one server node in charge of node discovery for everyone.

Also called

Fast-RTPS, Fast RTPS

Related

Data Distribution Service · Eclipse Cyclone DDS · ROS Middleware Interface (RMW) · Robot Operating System 2 · ROS 2 Quality of Service (QoS) · ROS Distribution

Sources

Fast DDS 官方文档 (Chinese)
Fast DDS GitHub