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I am trying to understand how ROS selects default DDS implementation while creating a service. I could see service constructor is using rosidl_typesupport_cpp namespace by default. How it gets type support handle for fast rtps cpp?


Originally posted by AnandShastry on ROS Answers with karma: 3 on 2019-04-01

Post score: 0

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The rmw implementation is selected when the program starts, if there is more than one to choose from, otherwise it is linked directly to the only one available. See: https://github.com/ros2/rmw_implementation/tree/master/rmw_implementation

The type support is selected based on the rmw implementation which is selected. See:

The type support structure is generated for each message and typesupport, e.g. fastrtps:


Originally posted by William with karma: 17335 on 2019-04-01

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by AnandShastry on 2019-04-09:
Thank you. I have one more doubt. What and all environment variables needed for this?

Comment by William on 2019-04-10:
https://index.ros.org/doc/ros2/Tutorials/Working-with-multiple-RMW-implementations/

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