README.md

minimal_dds_tuning

How to run

rmw_fastrtps

TODO: customize profile for real-time applications

export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=`ros2 pkg prefix minimal_dds_tuning`/share/minimal_dds_tuning/dds_profiles/rmw_fastrtps/REALTIME_FASTRTPS_PROFILES.xml

rmw_cyclonedds

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=`ros2 pkg prefix minimal_dds_tuning`/share/minimal_dds_tuning/dds_profiles/rmw_cyclonedds/cyclonedds.xml

rmw_connextdds

TODO

Resources

General

• https://docs.ros.org/en/galactic/How-To-Guides/DDS-tuning.html

rmw_fastrtps

• https://github.com/ros2/rmw_fastrtps
• ROSCon 2017 Vancouver: ROS2 Fine Tunning (slides)
• ROSCon 2019 Macau: ROS2 Real-Time Behavior: Static Memory Allocation (video)
• https://fast-rtps.docs.eprosima.com/en/v1.9.0/realtime.html#tuning-allocations
• https://fast-rtps.docs.eprosima.com/en/v1.9.0/realtime.html
• XML profiles configuration
• https://github.com/ros2/rmw_fastrtps#advance-usage
• How to enable LoanedMessages #579

rmw_cyclonedds

• https://github.com/ros2/rmw_cyclonedds
• Thread configuration
• About dynamic memory (de)allocation #99
• On allocations in the data path #79

rmw_connextdds

• https://github.com/ros2/rmw_connextdds
• Configuring QoS with XML
• Thread settings