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RTPS vs TCP (Foxy)

asked 2021-10-07 08:24:53 -0600

Thomas10017 gravatar image


I have a question, why FastDDS uses RTPS even for qos_reliability=reliable instead of use TCP? What are advantages to use RTPS?

Thank you

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answered 2021-10-07 20:37:49 -0600

ChuiV gravatar image

First you need to understand that TCP and RTPS are not exactly the same thing. It's like asking why you would use AC voltage instead of a USB plug.

Go look at the diagrams at before continuing to read this...

UDP and and TCP are transport protocols (layer 4 in the OSI model), and RTPS is probably layer 5.

The cool thing with the OSI model is that if you really needed to, you could swap out lower layers as long as they provide the same functionality. For example IPoAC ( swaps out the data link layer with pigeons (yes. you read that right.).

Fastdds includes a few different "transport" methods: UDP, TCP, or Shared memory. UDP transport is compatible with other DDS/RTPS vendors as UDP is specified as part of the RTPS protocol. TCP transport and shared memory transport are not part of the RTPS specification (Though I wish they were..) and therefore not compatible with other DDS/RTPS vendors.

So I think bottom line to answer your question: FastDDS uses UDP unless configured otherwise because that's what the RTPS specification defines.

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Thank you so much for your very informative answer, I learned a lot. Have a good day and thank you again!

Thomas10017 gravatar image Thomas10017  ( 2021-10-08 01:53:59 -0600 )edit

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Asked: 2021-10-07 08:24:53 -0600

Seen: 33 times

Last updated: Oct 07