rmw_fastrtps
- Software
- Middleware
- Library
A ROS 2 middleware implementation that connects ROS 2 to eProsima's Fast DDS, letting ROS 2 applications communicate through Fast DDS and tune its publication, QoS, discovery and transport settings.
Made by ROS 2.
Source on GitHub: github.com/ros2/rmw_fastrtps (opens in a new tab). Facts read at commit 2a0fc2f (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 2a0fc2f (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Selected as the ROS 2 middleware by setting RMW_IMPLEMENTATION to rmw_fastrtps_cpp, either exported or per launch.
- Available in all ROS 2 distributions, from binaries and from sources.
- Sets Fast DDS history memory policy, publication mode and data sharing to fixed defaults unless overridden.
- Lets the RMW_FASTRTPS_PUBLICATION_MODE variable choose synchronous, asynchronous or automatic publishing.
- Full QoS can be configured through Fast DDS XML profiles, with per-topic and per-service profile selection by name.
- Supports zero-copy intra-host delivery via shared memory and data sharing combined with loaned messages.
Written by Robotheca from the project's README (opens in a new tab) at commit 2a0fc2f.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 16 Oct 2026 on rolling
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.