@foxglove/rtps

Real-Time Publish Subscribe (DDS-RTPS) protocol implementation with a pluggable transport layer. This is a subset of the complete specification optimized for ROS 2 (Robot Operating System) connections

Deprecated

This library is no longer maintained by Foxglove, as we now use the Foxglove WebSocket for connecting to ROS 2 systems.

Usage

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Notes

Receiving large (>256KB) messages not be possible with the default Linux networking receive buffer size of 256KB, depending on CPU speed / contention / network speed / many factors. Linux users should set the following sysctls:

sudo sysctl -w net.core.rmem_max=26214400
sudo sysctl -w net.core.rmem_default=26214400
sudo sysctl -w net.ipv4.udp_mem=26214400

Or permanently in /etc/sysctl.conf:

net.core.rmem_max=26214400
net.core.rmem_default=26214400
net.ipv4.udp_mem=26214400

Test

yarn test

License

@foxglove/rtps is licensed under the MIT License.

Releasing

1. Run yarn version --[major|minor|patch] to bump version
2. Run git push && git push --tags to push new tag
3. GitHub Actions will take care of the rest