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How does ROS selects default dds implementation

asked 2019-04-01 06:36:10 -0500

AnandShastry gravatar image

I am trying to understand how ROS selects default DDS implementation while creating a service. I could see service constructor is using rosidl_typesupport_cpp namespace by default. How it gets type support handle for fast rtps cpp?

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answered 2019-04-01 17:31:49 -0500

William gravatar image

The rmw implementation is selected when the program starts, if there is more than one to choose from, otherwise it is linked directly to the only one available. See:

The type support is selected based on the rmw implementation which is selected. See:

The type support structure is generated for each message and typesupport, e.g. fastrtps:

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Thank you. I have one more doubt. What and all environment variables needed for this?

AnandShastry gravatar image AnandShastry  ( 2019-04-09 02:13:13 -0500 )edit

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Asked: 2019-04-01 06:36:10 -0500

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Last updated: Apr 01 '19