December 2019
Intermediate to advanced
456 pages
11h 33m
English
Content preview from ROS Robotics Projects - Second Edition
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How is DDS implemented?
There are multiple DDS implementations supported in ROS-2 since different vendors offer different features. For instance, RTI's Connext may be specifically implemented either for microcontrollers or toward applications requiring safety certifications. In all cases, DDS is implemented through a special layer called the ROS middleware interface layer (or rmw), as shown here:
ROS-2 middleware layer
The user code is the topmost block and contains the user logic or the algorithm. In ROS-1, the user code usually sits on top of the ROS client library (such as roscpp or rospy) and these libraries help the user connect their ...
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