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How does ROS selects default dds implementation

ros2

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

AnandShastry
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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

17335 ●101 ●182 ●262 http://wjwwood.io/

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: https://github.com/ros2/rmw_implement...

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: