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Is it possible to communicate between different ROS2 versions?

asked 2022-09-12 06:39:07 -0600


I'm asking this question because I've made work Galactic and Galactic devices on the same subnet and ROS_DOMAIN_ID but never I've tried with Galactic and Humble on the same subnet and ROS_DOMAIN_ID.

Do you guys see any potential problem by doing that? or is it similar by doing Galactic and Galactic?


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answered 2022-09-12 07:13:48 -0600

ljaniec gravatar image

Previously, I was sure this shouldn't be a problem, but @gvdhoorn here explained that DDS implementation also matters.

A quick note:

Middleware abstraction will be the same, even if DDS implementations differ.

the abstraction perhaps, but there is currently no guarantee of cross-vendor compatibility. Cyclone DDS and Fast-DDS are known to be incompatible for instance (see ros2/rmw_cyclonedds#184).

This essentially means only Fast-DDS can be used with micro-ROS, unless the application does not use services nor actions (ie: only topics).

For the OP, this wouldn't pose a problem, as both Foxy and Humble use Fast-DDS by default. But Galactic would be incompatible, and so would anyone trying to use Cyclone DDS with micro-ROS.


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Does that mean that I need to switch from Cyclone DDS to Fast-DDS in Galactic in order to be compatible with the device running Humble with Fast-DDS?

andrestoga gravatar image andrestoga  ( 2022-09-12 07:52:57 -0600 )edit

I am afraid so, unless if your project doesn't use services or actions.

Here is a list of inter-vendor communication configurations that are not supported.

Luckily, working with multiple DDS implementations is quite simple.

ljaniec gravatar image ljaniec  ( 2022-09-12 07:57:53 -0600 )edit

Or someone could address the incompatibilities described in ros2/rmw_cyclonedds#184.

gvdhoorn gravatar image gvdhoorn  ( 2022-09-12 12:37:18 -0600 )edit

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Asked: 2022-09-12 06:39:07 -0600

Seen: 36 times

Last updated: Sep 12