1.3. Fast DDS Suite Image

This Docker image contains the complete Fast DDS suite. This includes:

  • eProsima Fast DDS libraries and examples: Fast DDS libraries bundled with several examples that showcase a variety of capabilities of eProsima’s Fast DDS implementation.

  • Shapes Demo: eProsima Shapes Demo is an application in which Publishers and Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square, Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at a time.

    You can read more about this application on the Shapes Demo documentation page.

  • Fast DDS Monitor: eProsima Fast DDS Monitor is a graphical desktop application aimed at monitoring DDS environments deployed using the eProsima Fast DDS library. Thus, the user can monitor in real time the status of publication/subscription communications between DDS entities. They can also choose from a wide variety of communication parameters to be measured (latency, throughput, packet loss, etc.), as well as record and compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).

    You can read more about this application on the Fast DDS Monitor documentation page.

  • DDS Router: eProsima DDS Router is an end-user software application that enables the connection of distributed DDS networks. That is, DDS entities such as publishers and subscribers deployed in one geographic location and using a dedicated local network will be able to communicate with other DDS entities deployed in different geographic areas on their own dedicated local networks as if they were all on the same network through the use of eProsima DDS Router. This is achieved by deploying a DDS Router on an edge device of each local network so that the DDS Router routes DDS traffic from one network to the other through WAN communication.

    You can read more about this application on the DDS Router documentation website.

  • Plotjuggler eProsima Edition: eProsima Fast DDS Visualizer Plugin is a plugin for the PlotJuggler application. PlotJuggler is a graphical desktop application providing visualization features of data series, time series, X-Y plots. It also adds data management features, such as data import and export, custom and built-in data manipulation functions, data series merges, etc. Also, this software supports many different layouts, with dynamic, rich and user-friendly customization.

    You can read more about this application on the Plotjuggler eProsima Edition documentation website.

To load this image into your Docker repository, from a terminal run

docker load -i "ubuntu-fastdds-suite <FastDDS-Version>.tar"

You can run this Docker container as follows

xhost local:root
docker run -it --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix \

From the resulting Bash Shell you can run each feature.

1.3.1. Fast DDS Examples

Included in this Docker container is a set of binary examples that showcase several functionalities of the Fast DDS libraries. These examples’ path can be accessed from a terminal by typing


From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such examples below. Hello World Example

This is a minimal example that will perform a Publisher/Subscriber match and start sending samples.

cd dds/HelloWorldExample/bin
tmux new-session "./DDSHelloWorldExample publisher 0 1000" \; \
    split-window "./DDSHelloWorldExample subscriber" \; \
    select-layout even-vertical

This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container.

cd dds/HelloWorldExample/bin
./DDSHelloWorldExample publisher


cd dds/HelloWorldExample/bin
./DDSHelloWorldExample subscriber Benchmark Example

This example creates either a Publisher or a Subscriber and on a successful match starts sending samples. After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.

On the subscriber side, run:

cd dds/Benchmark/bin
./DDSBenchmark subscriber udp

On the publisher side, run:

cd dds/Benchmark/bin
./DDSBenchmark publisher udp

1.3.2. Shapes Demo

To launch the Shapes Demo, from a terminal run


eProsima Shapes Demo usage information can be found on the Shapes Demo documentation.

1.3.3. Fast DDS Monitor

To launch the Fast DDS Monitor, from a terminal run


eProsima Fast DDS Monitor user manual can be found on the Fast DDS Monitor documentation.

1.3.4. DDS Router

This example configures a DDS Router to communicate a publisher and subscriber running in different DDS Domains.

Run the following command to create the DDS Router yaml configuration file (/config.yml).

echo "version: v2.0
  - name: simple_dds_participant_0
    kind: local
    domain: 0
  - name: simple_dds_participant_1
    kind: local
    domain: 1" > /config.yml

Then execute the following command to run the Publisher in Domain 0, the Subscriber in Domain 1, and the DDS Router communicating both Domains.

cd dds/BasicConfigurationExample/bin
tmux new-session \
    "ddsrouter --config-path /config.yml" \; \
    split-window -h "./BasicConfigurationExample publisher --domain 0 --interval 1000 --transport udp" \; \
    split-window -v "./BasicConfigurationExample subscriber --domain 1 --transport udp"

eProsima DDS Router usage information can be found on the DDS Router documentation.

1.3.5. PlotJuggler eProsima Edition

To launch the PlotJuggler eProsima Edition, from a terminal run


eProsima PlotJuggler eProsima Edition usage information can be located on the PlotJuggler eProsima Edition User Manual.