Skip to content

FastDDS for ROS2

DDS

Environment variables

XML control

Environment Variables

Using environment variables that actually control how DDS behaves.

Select DDS implementation

1
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

Domain id

1
export ROS_DOMAIN_ID=0

Node must have the same domain id to communicate

Transport control

  • DEFAULT → UDP + SHM (auto)
  • UDPv4 → only UDP
  • SHM → shared memory only
1
export FASTDDS_BUILTIN_TRANSPORTS=UDPv4

XML profile configuration

1
export FASTRTPS_DEFAULT_PROFILES_FILE=/path/to/fastdds.xml