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Introduction

What is Fast DDS?
Commercial support
Key features
DDS API
Fast DDS-Gen
RTPS Wire Protocol
Main Features
Dependencies and compatibilities
Contributing to the documentation
Structure of the documentation

Installation Manual

1. Linux installation from binaries
2. Windows installation from binaries
3. Linux installation from sources
4. Windows installation from sources
5. Mac OS installation from sources
6. QNX 7.1 installation from sources
7. CMake options

Fast DDS

1. Getting Started
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2. Library Overview
3. DDS Layer
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- 3.1. Core
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  - 3.1.1. Entity
  - 3.1.2. Policy
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  - 3.1.3. Status
  - 3.1.4. Conditions and Wait-sets
- 3.2. Domain
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- 3.3. Publisher
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- 3.4. Subscriber
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- 3.5. Topic
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4. RTPS Layer
5. Discovery
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6. Transport Layer
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7. Persistence Service
8. Security
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- 8.1. Authentication plugin: DDS:Auth:PKI-DH
- 8.2. Access control plugin: DDS:Access:Permissions
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  - Domain Governance XSD
  - DomainParticipant Permissions XSD
- 8.3. Cryptographic plugin: DDS:Crypto:AES-GCM-GMAC
- 8.4. Logging plugin: DDS:Logging:DDS_LogTopic
- 8.5. PKCS#11 support
9. Logging
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10. XML profiles
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11. Environment variables
12. PropertyPolicyQos Options
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13. Statistics Module
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- 13.1. Statistics Module DDS Layer
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- 13.2. Monitor Service
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14. XTypes
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15. Typical Use-Cases
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- 15.1. Large Data mode and Fast DDS over TCP
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- 15.2. Fast DDS over WIFI
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- 15.3. Well Known Network Deployments
- 15.4. Large Data Rates
- 15.5. Topics with many subscribers
- 15.6. Real-time behavior
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  - 15.6.1. Tuning allocations
  - 15.6.2. Non-blocking calls
- 15.7. Reduce memory usage
- 15.8. Zero-Copy communication
- 15.9. Unique network flows
- 15.10. Statistics module
- 15.11. Dynamic network interfaces
- 15.12. How to use eProsima DDS Record and Replay
- 15.13. Next Steps
- 15.14. Request-Reply communication
- 15.15. Remote type discovery and endpoint matching
16. ROS 2 using Fast DDS middleware
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- 16.1. Configuring Fast DDS in ROS 2
- 16.2. Use ROS 2 with Fast-DDS Discovery Server
17. RPC over DDS
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- 17.1. RPC over DDS Request-Reply API overview
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18. Troubleshooting
19. Frequently Asked Questions
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20. C++ API Reference
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- 20.1. DDS DCPS PIM
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  - 20.1.1. Core
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  - 20.1.2. Domain
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  - 20.1.3. Publisher
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  - 20.1.4. Subscriber
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  - 20.1.5. Topic
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  - 20.1.6. XTypes
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    - 20.1.6.1. Dynamic Language Binding
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    - 20.1.6.2. InvalidArgumentError
    - 20.1.6.3. Type Representation
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      - 20.1.6.3.1. TypeObjectRegistry
      - 20.1.6.3.2. TypeObjectUtils
    - 20.1.6.4. Utils
  - 20.1.7. RPC over DDS
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- 20.2. RTPS
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  - 20.2.1. Attributes
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  - 20.2.2. Builtin data
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  - 20.2.3. Common
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    - 20.2.3.1. BinaryProperty
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    - 20.2.3.2. CacheChange
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      - 20.2.3.2.1. CacheChange_t
      - 20.2.3.2.2. ChangeKind_t
    - 20.2.3.3. CDRMessage
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      - 20.2.3.3.1. CDRMessage_t
      - 20.2.3.3.2. Macro definitions (#define)
    - 20.2.3.4. CDRSerialization
    - 20.2.3.5. EntityId
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    - 20.2.3.6. FragmentNumber
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      - 20.2.3.6.1. FragmentNumber_t
      - 20.2.3.6.2. FragmentNumberSet_t
    - 20.2.3.7. Guid
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    - 20.2.3.8. GuidPrefix
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    - 20.2.3.9. InstanceHandle
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    - 20.2.3.10. Locator
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    - 20.2.3.11. LocatorSelectorEntry
    - 20.2.3.12. LocatorSelector
    - 20.2.3.13. LocatorWithMask
    - 20.2.3.14. MatchingInfo
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      - 20.2.3.14.1. MatchingInfo
      - 20.2.3.14.2. MatchingStatus
    - 20.2.3.15. PortParameters
    - 20.2.3.16. Property
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    - 20.2.3.17. RemoteLocators
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      - 20.2.3.17.1. RemoteLocators Operators
      - 20.2.3.17.2. RemoteLocatorList
    - 20.2.3.18. SampleIdentity
    - 20.2.3.19. SequenceNumber
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    - 20.2.3.20. SerializedPayload
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      - 20.2.3.20.1. Macro definitions (#define)
      - 20.2.3.20.2. SerializedPayload_t
    - 20.2.3.21. RTPS Time_t
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    - 20.2.3.22. Token
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    - 20.2.3.23. Types
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    - 20.2.3.24. WriteParams
  - 20.2.4. Endpoint
  - 20.2.5. Flow control
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    - 20.2.5.1. FlowControllerDescriptor
    - 20.2.5.2. FlowControllerSchedulerPolicy
  - 20.2.6. History
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  - 20.2.7. RTPSParticipant
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    - 20.2.7.1. ParticipantDiscoveryInfo
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    - 20.2.7.2. RTPSParticipant
    - 20.2.7.3. RTPSParticipantListener
  - 20.2.8. RTPSReader
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    - 20.2.8.1. ReaderListener
    - 20.2.8.2. RTPSReader
  - 20.2.9. Resources
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    - 20.2.9.1. MemoryManagementPolicy
  - 20.2.10. RTPSDomain
  - 20.2.11. RTPSWriter
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    - 20.2.11.1. RTPSWriter
    - 20.2.11.2. WriterListener
- 20.3. Transport
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  - 20.3.1. Transport Generic Interfaces
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  - 20.3.2. Chaining of transports
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    - 20.3.2.1. ChainingTransportDescriptor
    - 20.3.2.2. ChainingTransport
  - 20.3.3. UDP Transport
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  - 20.3.4. TCP Transport
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  - 20.3.5. Shared Memory Transport
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    - 20.3.5.1. SharedMemTransportDescriptor
    - 20.3.5.2. SharedMemTransportDescriptor
- 20.4. LOG
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- 20.5. Statistics
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21. Python API Reference
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- 21.1. DDS DCPS PIM
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Fast DDS-Gen

1. Introduction
2. Usage
3. Building a publish/subscribe application
4. Building Python auxiliary libraries
5. Defining a data type via IDL

Fast DDS CLI

1. CLI

Docker Images

1. Docker Images
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Versions

Dependencies and compatibilities
Migration Guide to Fast DDS v3
Version 3.2.1 (latest)
Supported versions
Previous end-of-life versions

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20.2.1.17. RTPSWriterPublishMode¶

enum eprosima::fastdds::rtps::RTPSWriterPublishMode¶

Values:

enumerator SYNCHRONOUS_WRITER¶

enumerator ASYNCHRONOUS_WRITER¶

20.2.1.18. SendBuffersAllocationAttributes

20.2.1.16. RTPSParticipantAttributes

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20.2.1.17. RTPSWriterPublishMode
- RTPSWriterPublishMode
  - SYNCHRONOUS_WRITER
  - ASYNCHRONOUS_WRITER