Eclipse Cyclone DDS

Eclipse Cyclone DDS is open-source DDS implementation, which is contributed to Eclipse foundation by ADLINK initially.

Cyclone DDS is used by a growing list of adopters. It’s default DDS implementation of Autoware and tier-1 middleware of Robot Operating System (ROS 2).

For more information, refer to the Cyclone DDS documentation.

Build

To keep the development environment cleaner, you can use colcon to build Cyclone DDS.

  • Get source code from GitHub

mkdir -p ~/cyclonedds_ws/src
cd ~/cyclonedds_ws/src
git clone https://github.com/eclipse-cyclonedds/cyclonedds.git

  • Build

cd ~/cyclonedds_ws
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=ON

Example

  • Build example code

cd ~/cyclonedds_ws
source install/local_setup.bash
cd ~/workspace/dds_ws/install/cyclonedds/share/CycloneDDS/examples/helloworld
cmake -Bbuild -H.
cmake --build build

  • Run example publisher

cd ~/workspace/dds_ws/install/cyclonedds/share/CycloneDDS/examples/helloworld/build
./HelloworldPublisher

  • Run example subscriber

cd ~/workspace/dds_ws/install/cyclonedds/share/CycloneDDS/examples/helloworld/build
./HelloworldSubscriber