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How to compile the Connext DDS with ROS2

asked 2018-09-06 10:04:42 -0500

uthinu gravatar image

Hi, I followed the instructions from , in particular I installed Connext DDS packages:

sudo apt install -q -y \
    rti-connext-dds-5.3.1  # from

Then I compiled ROS2, and it seems that rmw_connext_cpp compiled fine, because has been built.

Starting >>> rmw_implementation_cmake                                                                                                
Finished <<< connext_cmake_module [3.83s]

However, ROS2 prints the following:

$ RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_py listener
[ERROR] [rcl]: Error getting RMW implementation identifier / RMW implementation not installed (expected identifier of 'rmw_connext_cpp'), exiting with 1.

The binary ros2 is within the compiled ros sources: /ros2_ws/install/ros2cli/bin/ros2.

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Did you source the Connext specific script before invoking the build as mentioned in the instructions (

Dirk Thomas gravatar image Dirk Thomas  ( 2018-09-06 10:35:50 -0500 )edit

setenv_ros2rti.bash is called from bash.bashrc since long and has been built, but I redid all once more (this time calling the connext script directly, but setenv_ros2rti.bash does that anyway). Now it works, but what made the difference no idea.

uthinu gravatar image uthinu  ( 2018-09-06 16:51:03 -0500 )edit

You might want to provide a complete log of your build. Then it because possible to say what actually happened during the build.

Dirk Thomas gravatar image Dirk Thomas  ( 2018-09-06 16:53:23 -0500 )edit

Is compiling ROS2 same as building ros workspace (colcon build)?

dj95 gravatar image dj95  ( 2020-07-08 10:20:29 -0500 )edit

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answered 2018-10-31 03:30:36 -0500

itfanr gravatar image

source the Connext specific script before invoking the build

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Where is it?

mechatronics3d gravatar image mechatronics3d  ( 2021-04-24 20:27:06 -0500 )edit

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Asked: 2018-09-06 10:04:42 -0500

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Last updated: Oct 31 '18