There are several options for using Connext® DDS with ROS 2:
- rmw_connextdds supports RTI Connext DDS 5.3.1 or later, and has become the official RMW implementation for Connext starting with the ROS 2 Galactic release. The implementation replaces the previous rmw_connext_cpp, which is now deprecated. Critical performance bottlenecks are resolved by rmw_connextdds. rmw_connext_cpp remains available in older ROS 2 releases, up to Foxy, and only provides support for RTI Connext DDS 5.3.1. rmw_connextdds may also be used with older releases, as far back as Dashing, if built from source.
- rmw_connextddsmicro, is a companion RMW implementation which supports RTI Connext® DDS Micro 3 or later. This implementation is only available as a source package.
The following table summarizes the available RMW implementations and their compatibility with different ROS 2 releases:
|RMW||Included in ROS 2 Releases||Compatible with ROS 2 Releases||Compatible with Connext version|
|rmw_connextdds||Galactic, Rolling||D - G, Rolling||5.3.1, 6.x|
|rmw_connextddsmicro||-||D - G, Rolling||Micro 3.x|
|rmw_connext_cpp||Ardent - Foxy||A - G, Rolling||5.3.1|