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I'm building ros2 humble from source, I would like to change the default DDS to rmw_cyclonedds_cpp, so with my self built version of ROS2, the user does not have to specify RMW_IMPLEMENTATION and use rmw_cyclonedds_cpp as default.

What source change do I need to or to set some environment variable during ROS2 source building?

I have read this, but did not find the answer for my need.

https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html

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  • $\begingroup$ I don't know if it is possible. In my opinion, it is a runtime specification. Maybe you can just create a "run.sh" file. In this file, you set the RMW_IMPLEMENTATION variable and launch your nodes. $\endgroup$ Feb 2 at 14:15
  • $\begingroup$ @AntoineVanMalleghem even if I'm compiling ROS2 from source and I can change the ROS2 source? $\endgroup$
    – Felix F Xu
    Feb 3 at 8:37

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The mechanisms for controlling RMW implementation selection are handled in the rmw_implementation package .

At the time that you are building rmw_implementation, it checks the CMake variable RMW_IMPLEMENTATION to determine which will be the "default" for that build.

Since we are building with cmake, you can pass it as a flag to the cmake invocation cmake .. -DRMW_IMPLEMENTATION=rmw_cyclonedds_cpp. CMake flags can also be passed via colcon with: --cmake-args or --ament-cmake-args:

colcon build --ament-cmake-args -DRMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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