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How to know if I have DDS installed?

asked 2020-04-11 05:59:37 -0500

PedroACaldeira gravatar image

I'm a bit of a noob on ROS2 and I'm starting to learn about the DDS protocol and its implementation on ROS2. So far, I've read that ROS2 already comes with eProsima Fast RTPS, however, I would like to make sure if this is really installed or not. How can I confirm this? Is there a terminal command or something I can do to test it?

Thank you!

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answered 2020-04-11 06:39:58 -0500

gvdhoorn gravatar image

updated 2020-04-11 07:36:11 -0500

Seeing as you've tagged this eloquent: if you've installed ROS 2 using the deb repositories on Ubuntu, you could check you have the required packages installed.

For Eloquent, that would be packages like fastrtps and rmw_fastrtps_cpp (see repo.ros2.org/status_page/ros_eloquent_default.html?q=fast for all packages).

To check you have those installed, you could use a command like this:

dpkg -l | grep fastrt

Note btw: this will not show you "whether you have DDS installed", it will show you whether you have the FastRTPS packages installed. Pedantic, but those contain only a single implementation of DDS. There are quite a few more, but those are not distributed by default with ROS 2.


Edit: from your screenshot it appears you have built ROS 2 from source. In that case the dpkg command I included earlier will not help you.

For source installs, you'll want to check you:

  1. have the Fast RTPS sources in your workspace
  2. they have been built during the overall ROS 2 build (with Colcon)
  3. the install space has the Fast RTPS libraries in the lib sub folder.
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Hey! Thank you for your answer. Below I included a print of my eProsima folder. Does this mean that I have fast-rtps installed and that I am able to communicate with a different machine? https://prnt.sc/rxaepi Thank you again

PedroACaldeira gravatar image PedroACaldeira  ( 2020-04-11 07:33:05 -0500 )edit

I've updated my answer.

In the future: please always include pertinent details such as how you've installed ROS, which OS you're using, which version, etc. Without such information, we can only guess (which is what I did).

Furthermore: you appear to be using Ubuntu: I'd sugget to make sure you need to build ROS 2 from sources, as using the binary packages would be much faster and more efficient.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-11 07:37:36 -0500 )edit

Alright, sorry for that. I installed by source because for some reason I couldn't install it from debian. Regarding, your edit, I have a couple of questions:

  1. I don't have any Fast RTPS folder inside my ros workspace. Does this mean that it's not installed afterall?
  2. I believe that when I first made the overall ROS2 build, everything ran smoothly
  3. What do you mean with this third bullet point? Thank you again
PedroACaldeira gravatar image PedroACaldeira  ( 2020-04-11 07:47:22 -0500 )edit

I installed by source because for some reason I couldn't install it from debian.

Somewhat off-topic, but I would suggest to figure out why you couldn't, as installing .debs is typically a couple of minutes, while building from source often takes much more time.

You'll have to build everything from source now.

I don't have any Fast RTPS folder inside my ros workspace. Does this mean that it's not installed afterall?

This confuses me: you just showed a screenshot with the eProsima/Fast-RTPS folder in your ros2_eloquentsrc folder. Is that not your ROS 2 workspace?

What do you mean with this third bullet point?

After you build ROS 2, there will be an install folder next to the src folder in your ros2_eloquent workspace root. The lib sub folder of that should contain the Fast RTPS libraries.

But really, all of this is ...(more)

gvdhoorn gravatar image gvdhoorn  ( 2020-04-11 07:53:15 -0500 )edit

Okay okay got it! I thought you were talking about the workspace where I keep the packages I create. Anyway, thank you very much for your tips and your overall help! :)

PedroACaldeira gravatar image PedroACaldeira  ( 2020-04-11 08:19:49 -0500 )edit

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Asked: 2020-04-11 05:59:37 -0500

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Last updated: Apr 11