OpenSplice move to Eclipse Cyclone DDS in ROS 2

Next Generation ROS
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Based on community demand and user feedback we’d like to focus our ROS efforts on the Eclipse IoT Eclipse Cyclone DDS project. What do you think? OpenSplice users can switch to rmw_cyclonedds which is easier, 3x faster, 1/3 CPU and uses less memory than OpenSplice. Eclipse Cyclone DDS will be familiar and easy for OpenSplice users. We contributed both and Eclipse Cyclone DDS is the new generation. Please reach our if there’s anything you use in OpenSplice not already in Eclipse Cyclone DDS and we’ll work hard to make sure it is in Foxy. We are here to support you via GitHub issues. You can also DM @eboasson @rotu @joespeed. Here is more on Eclipse Cyclone DDS.

How to switch from OpenSplice to CycloneDDS in ROS 2:

Install CycloneDDS:

apt install ros-eloquent-rmw-cyclonedds-cpp
                (or dashing)

Run ROS with CycloneDDS: Set env variable and run as usual

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Confirm RMW: In Eloquent, to confirm which RMW you’re using

ros2 doctor --report

note: OpenSplice has not been removed from the current ROS 2 distros.

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That’s quite a mouthful.

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@joespeed

thanks for the information, cyclonedds works fine with good stability and footprint !

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I moved forward with the removal of OpenSplice for Foxy:

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Thanks for being open and straightforward with this @joespeed, makes total sense. Given our discussion about this it might be worth clarifying for others: this isn’t a change on existing ROS distros. OpenSplice will continue to be supported there. The change in focus (and subsequent RMW impl removal) applies to Foxy and beyond.

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OpenSplice removal from rmw_implementation: https://github.com/ros2/rmw_implementation/pull/79

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A few more dependencies to OpenSplice removed: https://github.com/ros2/rosidl_typesupport/pull/56

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Thanks @Jacob! :100: More info for those looking at Eclipse Cyclone DDS RMW bit.ly/eclipsecyclone a project of Eclipse IoT and OpenADx autonomous driving WG and testbed

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Nightly package archives from https://ci.ros2.org will no longer include rmw_opensplice_cpp: https://github.com/ros2/ci/pull/401

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From consuming the nightly archives to generate the ros2:nightly docker images. It appeared that the archives stopped shipping rmw_opensplice_cpp about a month ago when it was removed from the ros2.repos file.

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That makes my post non-news then.

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Is Cyclone available on Windows 10 as well?

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Yes! Windows, Linux, macOS M1 & x86, FreeRTOS, Solaris 2.6 (because Erik & Morgan are sentimental) and 1/2 dozen OS.

$ cd build
$ cmake -G "<generator-name>" -DCMAKE_INSTALL_PREFIX=<install-location> ..
$ cmake --build
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