Version 2.0.1

This release includes the following bug fixes:

  • Fixed sending GAPs to late joiners

  • Fixed asserting liveliness on data reception

  • Avoid calling OpenSSL_add_all_algorithms() when not required

Other improvements:

  • Fixing warnings

PRs in merge order: #1295, #1300, #1304, #1290, #1307.

Note

If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen. If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.

Previous versions

Version 2.0.0

This release has the following API breaks:

  • eClock API, which was deprecated on v1.9.1, has been removed

  • eprosima::fastrtps::rtps::RTPSDomain::createParticipant methods now have an additional first argument domain_id

  • Data member domainId has been removed from eprosima::fastrtps::rtps::RTPSParticipantAttributes and added to eprosima::fastrtps::ParticipantAttributes

Users should also be aware of the following deprecation announcement:

  • All classes inside the namespace eprosima::fastrtps should be considered deprecated. Equivalent functionality is offered through namespace eprosima::fastdds.

  • Namespaces beneath eprosima::fastrtps are not included in this deprecation, i.e. eprosima::fastrtps::rtps can still be used)

This release adds the following features:

  • Added support for register/unregister/dispose instance

  • Added DDS compliant API. This new API exposes all the functionality of the Publisher-Subscriber Fast RTPS API adhering to the Data Distribution Service (DDS) version 1.4 specification

  • Added Security Logging Plugin (contributed by Cannonical Ltd.)

  • Bump to FastCDR v1.0.14

It also includes the following bug fixes and improvements:

  • Support for OpenSSL 1.1.1d and higher

  • Support for latest versions of gtest

  • Support for FreeBSD

  • Fault tolerance improvements to Shared Memory transport

  • Fixed segfault when no network interfaces are detected

  • Correctly ignoring length of PID_SENTINEL on parameter list

  • Improved traffic on PDP simple mode

  • Reduced CPU and memory usage

Version 1.10.0

This release adds the following features:

  • New built-in Shared Memory Transport

  • Transport API refactored to support locator iterators

  • Added subscriber API to retrieve info of first non-taken sample

  • Added parameters to fully avoid dynamic allocations

  • History of built-in endpoints can be configured

  • Bump to FastCDR v1.0.13.

  • Bump to Fast-RTPS-Gen v1.0.4.

  • Require CMake 3.5 but use policies from 3.13

It also includes the following bug fixes and improvements:

  • Fixed alignment on parameter lists

  • Fixed error sending more than 256 fragments.

  • Fix handling of STRICT_REALTIME.

  • Fixed submessage_size calculation on last data_frag.

  • Solved an issue when recreating a publishing participant with the same GUID.

  • Solved an issue where a publisher could block on write for a long time when a new subscriber (late joiner) is matched, if the publisher had already sent a large number of messages.

  • Correctly handling the case where lifespan expires at the same time on several samples.

  • Solved some issues regarding liveliness on writers with no readers.

  • Correctly removing changes from histories on keyed topics.

  • Not reusing cache change when sample does not fit.

  • Fixed custom wait_until methods when time is in the past.

  • Several data races and ABBA locks fixed.

  • Reduced CPU and memory usage.

  • Reduced flakiness of liveliness tests.

  • Allow for more use cases on performance tests.

Several bug fixes on discovery server:

  • Fixed local host communications.

  • Correctly trimming server history.

  • Fixed backup server operation.

  • Fixed timing issues.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen. If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.

Version 1.9.4

This release adds the following features:

  • Intra-process delivery mechanism is now active by default.

  • Synchronous writers are now allowed to send fragments.

  • New memory mode DYNAMIC_RESERVE on history pool.

  • Performance tests can now be run on Windows and Mac.

  • XML profiles for requester and replier.

It also includes the following bug fixes and improvements:

  • Bump to FastCDR v1.0.12.

  • Bump to Fast-RTPS-Gen v1.0.3.

  • Fixed deadlock between PDP and StatefulReader.

  • Improved CPU usage and allocations on timed events management.

  • Performance improvements on reliable writers.

  • Fixing bugs when Intra-process delivery is activated.

  • Reducing dynamic allocations and memory footprint.

  • Improvements and fixes on performance tests.

  • Other minor bug fixes and improvements.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.9.3

This release adds the following features:

  • Participant discovery filtering flags.

  • Intra-process delivery mechanism opt-in.

It also includes the following bug fixes and improvements:

  • Bump to Fast-RTPS-Gen v1.0.2.

  • Bring back compatibility with XTypes 1.1 on PID_TYPE_CONSISTENCY.

  • Ensure correct alignment when reading a parameter list.

  • Add CHECK_DOCUMENTATION cmake option.

  • EntityId_t and GuidPrefix_t have now their own header files.

  • Fix potential race conditions and deadlocks.

  • Improve the case where check_acked_status is called between reader matching process and its acknack reception.

  • RTPSMessageGroup_t instances now use the thread-local storage.

  • FragmentedChangePitStop manager removed.

  • Remove the data fragments vector on CacheChange_t.

  • Only call find_package for TinyXML2 if third-party options are off

  • Allow XMLProfileManager methods to not show error log messages if a profile is not found.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.9.2

This release includes the following feature:

  • Multiple initial PDP announcements.

  • Flag to avoid builtin multicast.

It also adds the following bug fixes and improvements:

  • Bump to Fast-RTPS-Gen v1.0.1.

  • Bump to IDL-Parser v1.0.1.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.9.1

This release includes the following features:

  • Fast-RTPS-Gen is now an independent project.

  • Header eClock.h is now marked as deprecated.

It also adds the following bug fixes and improvements:

  • Bump to FastCDR v1.0.11.

  • Installation from sources documentation fixed.

  • Fixed assertion on WriterProxy.

  • Fixed potential fall through while parsing Parameters.

  • Removed deprecated guards causing compilation errors in some 32 bits platforms.

  • addTOCDRMessage method is now exported in the DLL, fixing issues related with Parameters’ constructors.

  • Improve windows performance by avoiding usage of _Cnd_timedwait method.

  • Fixed reported communication issues by sending multicast through localhost too.

  • Fixed potential race conditions and deadlocks.

  • Eliminating use of acceptMsgDirectTo.

  • Discovery Server framework reconnect/recreate strategy.

  • Removed unused folders.

  • Restored subscriber API.

  • SequenceNumber_t improvements.

  • Added STRICT_REALTIME cmake option.

  • SubscriberHistory improvements.

  • Assertion of participant liveliness by receiving RTPS messages from the remote participant.

  • Fixed error while setting next deadline event in create_new_change_with_params.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.9.0

This release includes the following features:

  • Partial implementation of allocation QoS.

  • Implementation of Discovery Server.

  • Implementation of non-blocking calls.

It also adds the following bug fixes and improvements:

  • Added sliding window to BitmapRange.

  • Modified default behavior for unknown writers.

  • A Flush() method was added to the logger to ensure all info is logged.

  • A test for loading Duration_t from XML was added.

  • Optimized WLP when removing local writers.

  • Some liveliness tests were updated so that they are more stable on Windows.

  • A fix was added to CMakeLists.txt for installing static libraries.

  • A fix was added to performance tests so that they can run on the RT kernel.

  • Fix for race condition on built-in protocols creation.

  • Fix for setting nullptr in a fixed_string.

  • Fix for v1.8.1 not building with -DBUILD_JAVA=ON.

  • Fix for GAP messages not being sent in some cases.

  • Fix for coverity report.

  • Several memory issues fixes.

  • fastrtps.repos file was updated.

  • Documentation for building with Colcon was added.

  • Change CMake configuration directory if INSTALLER_PLATFORM is set.

  • IDL sub-module updated to current version.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.8.4

This release adds the following feature:

  • XML profiles for requester and replier

It also has the following important bug fixes:

  • Solved an issue when recreating a publishing participant with the same GUID (either on purpose or by chance)

  • Solved an issue where a publisher could block on write for a long time when, after a large number of samples have been sent, a new subscriber is matched.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen

Version 1.8.3

This release adds the following bug fixes and improvements:

  • Fix serialization of TypeConsistencyEnforcementQosPolicy.

  • Bump to Fast-RTPS-Gen v1.0.2.

  • Bump to IDL-Parser v1.0.1.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen

Version 1.8.2

This release includes the following features:

  • Modified unknown writers default behavior.

  • Multiple initial PDP announcements.

  • Flag to avoid builtin multicast.

  • STRICT_REALTIME compilation flag.

It also adds the following bug fixes and improvements:

  • Fix for setting nullptr in a fixed string.

  • Fix for not sending GAP in several cases.

  • Solve Coverity report issues.

  • Fix issue of fastrtpsgen failing to open IDL.g4 file.

  • Fix unnamed lock in AESGCMGMAC_KeyFactory.cpp.

  • Improve XMLProfiles example.

  • Multicast is now sent through localhost too.

  • BitmapRange now implements sliding window.

  • Improve SequenceNumber_t struct.

  • Participant’s liveliness is now asserted when receiving any RTPS message.

  • Fix leak on RemoteParticipantLeaseDuration.

  • Modified default values to improve behavior in Wi-Fi scenarios.

  • SubscriberHistory improvements.

  • Removed use of acceptMsgDirectTo.

  • WLP improvements.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen

Version 1.8.1

This release includes the following features:

It also adds the following bug fixes and improvements:

  • Fix for get_change on history, which was causing issues during discovery.

  • Fix for announcement of participant state, which was sending ParticipantBuiltinData twice.

  • Fix for closing multicast UDP channel.

  • Fix for race conditions in SubscriberHistory, UDPTransportInterface and StatefulReader.

  • Fix for lroundl error on Windows in Time_t.

  • CDR & IDL submodules update.

  • Use of java 1.8 or greater for fastrtpsgen.jar generation.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.8.0

This release included the following features:

It also adds the following improvements and bug fixes:

  • Real-time improvements: non-blocking write calls for best-effort writers, addition of fixed size strings, fixed size bitmaps, resource limited vectors, etc.

  • Duration parameters now use nanoseconds.

  • Configuration of participant mutation tries.

  • Automatic calculation of the port when a value of 0 is received on the endpoint custom locators.

  • Non-local addresses are now filtered from whitelists.

  • Optimization of check for acked status for stateful writers.

  • Linked libs are now not exposed when the target is a shared lib.

  • Limitation on the domain ID has been added.

  • UDP non-blocking send is now optional and configurable via XML.

  • Fix for non-deterministic tests.

  • Fix for ReaderProxy history being reloaded incorrectly in some cases.

  • Fix for RTPS domain hostid being potentially not unique.

  • Fix for participants with different lease expiration times failing to reconnect.

Known issues

  • When using TPC transport, sometimes callbacks are not invoked when removing a participant due to a bug in ASIO.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.7.2

This release fixes an important bug:

  • Allocation limits on subscribers with a KEEP_LAST QoS was taken from resource limits configuration and didn’t take history depth into account.

It also has the following improvements:

  • Vendor FindThreads.cmake from CMake 3.14 release candidate to help with sanitizers.

  • Fixed format of gradle file.

Some other minor bugs and performance improvements.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.7.1

This release included the following features:

  • LogFileConsumer added to the logging system.

  • Handle FASTRTPS_DEFAULT_PROFILES_FILE environment variable indicating the default profiles XML file.

  • XML parser made more restrictive and with better error messages.

It also fixes some important bugs: * Fixed discovery issues related to the selected network interfaces on Windows. * Improved discovery times. * Workaround ASIO issue with multicast on QNX systems. * Improved TCP transport performance. * Improved handling of key-only data submessages.

Some other minor bugs and performance improvements.

KNOWN ISSUES

  • Allocation limits on subscribers with a KEEP_LAST QoS is taken from resource limits configuration and doesn’t take history depth into account.

Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.7.0

This release included the following features:

Also bug fixing, allocation and performance improvements.

Note: If you are upgrading from an older version, it is required to regenerate generated source from IDL files using fastrtpsgen.

Version 1.6.0

This release included the following features:

Also bug fixing.

Note: If you are upgrading from an older version than 1.4.0, it is advisable to regenerate generated source from IDL files using fastrtpsgen.

Version 1.5.0

This release included the following features:

  • Configuration of Fast RTPS entities through XML profiles.

  • Added heartbeat piggyback support.

Also bug fixing.

Note: If you are upgrading from an older version than 1.4.0, it is advisable to regenerate generated source from IDL files using fastrtpsgen.

Version 1.4.0

This release included the following:

  • Added secure communications.

  • Removed all Boost dependencies. Fast RTPS is not using Boost libraries anymore.

  • Added compatibility with Android.

  • Bug fixing.

Note: After upgrading to this release, it is advisable to regenerate generated source from IDL files using fastrtpsgen.

Version 1.3.1

This release included the following:

  • New examples that illustrate how to tweak Fast RTPS towards different applications.

  • Improved support for embedded Linux.

  • Bug fixing.

Version 1.3.0

This release introduced several new features:

  • Unbound Arrays support: Now you can send variable size data arrays.

  • Extended Fragmentation Configuration: It allows you to setup a Message/Fragment max size different to the standard 64Kb limit.

  • Improved logging system: Get even more introspection about the status of your communications system.

  • Static Discovery: Use XML to map your network and keep discovery traffic to a minimum.

  • Stability and performance improvements: A new iteration of our built-in performance tests will make benchmarking easier for you.

  • ReadTheDocs Support: We improved our documentation format and now our installation and user manuals are available online on ReadTheDocs.

Version 1.2.0

This release introduced two important new features:

  • Flow Controllers: A mechanism to control how you use the available bandwidth avoiding data bursts. The controllers allow you to specify the maximum amount of data to be sent in a specific period of time. This is very useful when you are sending large messages requiring fragmentation.

  • Discovery Listeners: Now the user can subscribe to the discovery information to know the entities present in the network (Topics, Publishers & Subscribers) dynamically without prior knowledge of the system. This enables the creation of generic tools to inspect your system.

But there is more:

  • Full ROS2 Support: Fast RTPS is used by ROS2, the upcoming release of the Robot Operating System (ROS).

  • Better documentation: More content and examples.

  • Improved performance.

  • Bug fixing.