ros2 dds implementations
The ROS2 eloquent installation instructions say the default DDS implementation is eProsima's Fast RTPS. Similarly, the instructions for installing a new DDS implementation state that eProsima's Fast RTPS is the only one bundled with ROS2.
However, in ros2_eloquent/src
generated during a vanilla install, I find eclipse_cyclonedds
.
The description of different DDS implementations doesn't list cyclonedds anywhere, but the vanilla installation of eloquent does include rmw_cyclonedds_cpp
alongside rmw interfaces for the other DDS implementations.
I'm not very clear on the relationship, if any, between eProssima's Fast RTPS and eclipse's cyclonedds. I was under the impression that they are separate DDS implementations.
Is that accurate? I may be missing something pretty fundamental here... Or perhaps cyclonedds and its rmw interface is now sufficiently mature that it's bundled with eloquent, and I am just looking at outdated websites.