Supported versions

Version 2.14

Version 2.14.0 (latest)

Important

Fast DDS v2.14 will be the last minor version of Fast DDS v2, the next major release will be Fast DDS v3.0.0, stay tuned!

This release includes the following new features:

1. Add netmask filter transport configuration

2. Add interface allowlist and blocklist

3. Expose Security Authentication plugin Handshake Properties

4. Extend LARGE_DATA configuration options

5. Allow single listening port on TCP

6. OpenOutputChannels / CloseOutputChannels that receive a LocatorSelectorEntry

7. Support GTest v1.14.0

8. Update Fast CDR submodule to v2.2.0

9. Update roadmap and release support

This release includes the following improvements:

1. Ignore custom PIDs defined in Fast DDS when they are received from other vendors

2. Add catch of out-of-range exception for thread settings port

3. Explicitly pass vendor ID to readFromCdrMessage

4. TCP transport improvements:

   1. TCPSendResources cleanup

   2. TCP non_blocking_send moved to TCPTransportDescriptor

5. Various repository improvements and housekeeping:

   1. Migrate communication tests to the DDS API

   2. Migrate TCPReqRepHelloWorldReplier/Requester to the DDS API

   3. Update APIs in video performance tests to the DDS API

   4. Remove FASTDDS_TODO_BEFORE 2.14

   5. Remove use of deprecated FindPythonInterp

   6. Remove idl parser from .repos file

   7. Force usage of semicolon in FASTDDS_TODO_BEFORE macro

   8. Ubuntu example testing automation infrastructure

6. Multiple Github CI improvements:

   1. Add nightly Ubuntu Github CI

   2. Improve CI version management

   3. Avoid running GitHub CI if PR has conflicts

   4. Migrate apt package installation to eProsima-CI action

   5. Include missing nightly for 3.0.x branch

   6. Adapt nightly jobs for all supported versions

   7. Pin CMake version and vm.mmap_rnd_bits in sanitizer workflows

   8. Select reusable workflow version depending on target branch in nightly jobs

This release includes the following fixes:

1. Fix warnings when compiling for Windows x86

2. TCP first message loss (see TCPTransportDescriptor)

3. Fix warnings on tests on Windows 32bits

4. Protect asio exception hotfix

5. Fix CVE-2024-28231

6. Github CI fixes:

   1. Fix CI documentation workflow label triggering

   2. Fix nightly jobs

   3. Fix input branch on reusable windows CI

   4. Use correct version of GTest on DS ASan tests

Note

When upgrading to version 2.14.0 it is advisable to regenerate generated source from IDL files using Fast DDS-Gen v3.3.0.

Version 2.13

Version 2.13.3

This patch release includes the following improvements:

1. Enabling multiple interfaces through whitelist in TCP servers

2. Set LARGE_DATA Participants logic with the same listening ports

3. Check History QoS inconsistencies

This patch release includes the following fixes:

1. Prevent index overflow and correctly assert the end iterator in DataSharing

2. Fix the shared memory cleaning script

3. Fix TCP reconnection after open logical port failure

4. Fix data race on PDP

5. Fix doxygen docs warnings. Prepare for compiling with Doxygen 1.10.0

6. Add missing TypeLookup listeners

7. Restore Blackbox tests names

8. Add macOS Github CI

9. Set 2.11.x as EOL

Note

When upgrading to version 2.13.3 it is advisable to regenerate generated source from IDL files using Fast DDS-Gen v3.2.1.

Version 2.13.2

This patch release includes the following fixes and improvements:

1. Improve environment variable substitution algorithm

2. Add large data to the Advanced Configuration example

3. Discard already processed samples on PDPListener

4. Ignore 0x8007 if coming from other vendor

5. TCP unique client announced local port

6. TCP non-blocking send

7. TCP Client&Server Participant Decision-Making

8. Add non-throwing getters for socket info

9. Add a keyed fragmented change to the reader data instance only when it is completed

10. Include a variety of terminate process signals handlers in the discovery server

11. Make DataWriters always send the key hash on keyed topics

12. Update Fast DDS types with Fast DDS Gen to include <cstdint> in v1 types

13. Add serialization for Log::Kind to ostream

14. Fix wrong log info messages on TCP

15. Return const reference in get_log_resources

16. Remove unnecessary warning

17. Avoid a maybe-uninitialized warning

18. Add static cast to an unused variable

19. Prepare for v3.0.0 branch out

20. Windows CI fixes

Note

When upgrading to version 2.13.2 it is advisable to regenerate generated source from IDL files using Fast DDS-Gen v3.2.1.

Version 2.13.1

Note

This release upgrades the following Fast DDS dependencies:

• Fast CDR v2.1.3

• Fast DDS-Gen v3.2.1

This release includes the following improvements:

1. Downgrade CMake minimum required version to 3.20.

2. Update PR template to include check for PR description, title and backports.

3. Update Fast CDR submodule to v2.1.3.

This patch release includes the following fixes:

1. Revert wrong fix for TCP deadlock on channel reuse.

2. Fix wrong history selection when removing PDP samples.

3. Fix data race when processing incoming PDP samples on different threads.

4. Fix DNS test filter in CMakeLists.

5. Fix deserialization of unions in generated code.

Note

When upgrading to version 2.13.1 it is advisable to regenerate generated source from IDL files using Fast DDS-Gen v3.2.1.

Version 2.13.0

Note

This release upgrades the following Fast DDS dependencies:

• Fast CDR v2.1.2

• Fast DDS-Gen v3.2.0

This release includes the following features:

1. Support Monitor Service.

2. Enable configuration of thread settings for all threads (both through the C++ API and XML configuration files).

3. Support Autofill port (automatic assignment of a port) for TCP Transport listening port.

4. Support TCP for Discovery Server CLI and environment variable.

5. Usage of gtest_discover_tests.

6. Define a super client by environment variable.

7. Support adding interfaces to the interface whitelist by the name.

8. Add new methods to configure Builtin Transport.

9. Support DataRepresentationQos.

10. Change serialize function default behavior to omit the data representation.

11. Upgrade Fast CDR submodule to v2.1.2.

12. Update roadmap & platforms support.

This release includes the following improvements:

1. Rerun failed tests with ctest option instead of colcon’s.

2. Add CCache to all CI jobs.

This release includes the following fixes:

1. Fast DDS bugfixes

   1. Fix compilation of XMLProfileParserTests when building without security.

   2. Improve IgnoreNonExistentSegment test for Windows.

   3. Add missing thread includes.

   4. Fix warning in Mac rewarding unnecessary lambda capture.

   5. Use SO_EXCLUSIVEADDRUSE for Win32 unicast listening sockets.

   6. Fix gtest discovery timeout.

   7. Mark on_participant_discovery overload removal.

   8. Fix uninitialized member in BuiltinAttributes class.

   9. Fix set affinity directive for Android.

   10. Fix Monitor Service types & test without security.

   11. Fix TCP deadlock on channel reuse.

   12. Fix DNS filter in CMakeLists file for tests.

   13. Fix memory issues related to ciphering payload.

   14. Fix a bad-free when receiving a malformed DATA_FRAG submessage.

   15. Fix CVE-2023-50257.

   16. Fix compilation of Fast DDS Python tests.

   17. Fix data race on writer destruction while sending heartbeat.

   18. Fix build with TLS, when SECURITY=OFF and NO_TLS=OFF.

2. CI fixes:

   1. Fix colcon on github CI.

   2. Better handling of trigger events in docs CI.

Note

When upgrading to version 2.13.0 it is advisable to regenerate generated source from IDL files using Fast DDS-Gen v3.2.0.

Version 2.10

Version 2.10.3

This release includes the following features in an ABI compatible manner:

1. Support Autofill port (automatically set a port) for TCP Transport.

2. Define a super client by environment variable

3. Support TCP Discovery server CLI and environment variable

4. Define methods (environment variable, rtps layer, xml) to configure transport scenarios

5. Custom pools on DDS layer (DataWriter and DataReader)

This release includes the following improvements:

1. Log warning upon receiver resource creation failure

2. Simplify code in CDRMessage

3. Backport workflows from master

4. Rerun failed tests with ctest option instead of colcon’s

5. Use foonathan memory manager for reducing allocations in SharedMemManager.hpp

6. Add CCache to all CI jobs

This release includes the following bugfixes:

1. Fix RemoteBuiltinEndpointHonoring blackbox test

2. Fix bad-free when receiving malformed DATA submessage

3. Fix clang warnings

4. Use STL implementation of Timed/RecursiveTimedMutex when MSVC >= 19.36

5. Notify data-sharing listener at the end of a successful matching in intraprocess

6. Fix the clang build for clang 14

7. Fix HelloWorld Data-Sharing example idl

8. Fix the behaviour of disable_positive_acks period

9. Fix DomainParticipant::register_remote_type return when negotiating type

10. Fix Data Race when updating liveliness changed in WLP

11. Fix TCP sender resources creation

12. Fix flow controllers unit tests compilation when using Fast CDR from thirdparty

13. Add XML parser bit_bound bounds check

14. Add tests for reconnection with same GUID

15. Fix Github Windows CI

16. Fix PubSubAsReliable test

17. Use FASTRTPS_NO_LIB on unittest root folder

18. Fix missing mandatory attribute check in XML parser struct type

19. Fix mac address overflow on windows

20. Use SO_EXCLUSIVEADDRUSE for Win32 unicast listening sockets

21. Fix FileWatchTest for Github windows CI

22. Add missing thread include

23. Update TLS unit test certificates

24. Select correct .repos file on push events

25. Fix documentation CI branch

26. Fix TCP deadlock on channel reuse

27. Fix DNS filter in CMakeLists file for tests

28. Fix bad-free when receiving malformed DATA_FRAG submessage

29. Fix memory problem when ciphering payload

30. Fix build with TLS, but not security

31. Fix CVE-2023-50257

32. Fix data race on writer destruction while sending heartbeat

33. Fix comparison in remove_from_pdp_reader_history

34. Fix data race in PDPListener and SecurityManager

35. Update PR template to include check for PR description, title and backports

36. Fix std::move warning

37. Revert “TCP deadlock on channel reuse”

38. Fix max clash with Windows CI

39. Remove unnecessary TCP warning

40. Discard already processed samples on PDPListener

41. TCP unique client announced local port

Note

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

Version 2.10.2

This release includes the following improvements:

1. Fix Data-Sharing delivery when data_count is zero

2. Improve performance of intraprocess plus data-sharing

3. Improve content filter expression parameters checks and verbosity

4. Improve validation on PID_PROPERTY_LIST deserialization

5. Participant ignore local endpoints

6. Pick smallest available participant ID for new participants

7. Improve endpoint QoS XML tags

8. Forward compatibility with boost interprocess 1.74+

9. Cap Thread Sanitizer memory usage to prevent runner shutdown

10. Allow participant XML profile with no <rtps> tag

11. Add unsupported note in API documentation to new ignore DomainParticipantListener callbacks

12. Add documentation version fallback

This release includes the following bugfixes:

1. Fixed long-standing reconnection issue on SHM transport

2. Fix null dereference when fuzzing

3. Fix segfault when creating two participant with same fixed id

4. Fix UBSan (Undefined Behavior Sanitizer) issues

5. Fix listener selection for on_requested_deadline_missed

6. Fix build on msvc 19.36.32528

7. Fix XML schema to set Transport descriptor kind as NOT mandatory

8. Fix missing includes

9. Fix overhead time unit

10. Fix request reply example spelling typo

11. Fix topic deletion after endpoint in examples

12. Fix Data-Sharing delivery when data_count is zero

13. Wait for log background thread initialization on the first queued entry

14. Fix alias resolve in DDSSQLFilter

15. Fix partition copy in QoS

16. Fix StatelessWriter locators filtering

17. Fix XMLParser null-dereference in parseLogConfig

18. Fix encapsulation format in WLP

19. Replace uint64_t by 8 in alignas specifier

20. Capture all Fast CDR exceptions

21. Security module: Honor allow_unauthenticated_participants flag

22. Explicitly register type object in ContentFilteredTopicExample

23. Avoid double definition of FASTDDS_ENFORCE_LOG_INFO

24. Fix API Fast DDS v2.10.0 API break calling correctly on_participant_discovery callbacks

25. Remove mutex from TimedEventImpl

Note

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

Version 2.10.1

This release includes the following feature in an ABI compatible way:

1. ignore_participant() implementation

This release includes the following bugfixes:

1. Fix repeated matched event notification.

2. Fix regression introduced by #3396.

3. Initial acknack backoff.

4. Fix regular expression in XML schema.

5. Correctly assign multicast port to multicast initial peers.

This release includes the following CI improvements:

1. Update runner and GCC version for Thread Sanitizer job.

Note

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

Version 2.10.0

This minor release includes several new features, improvements and bugfixes.

Note

Mind that, even though this release is API compatible with previous v2.x versions, it is NOT ABI compatible with previous versions. This means that applications upgrading Fast DDS to v2.10.0 will require recompilation, though not source code modification.

Note

It is also advisable to regenerate the type support from the IDL files using Fast DDS-Gen v2.4.0. Furthermore, if upgrading to v2.10.0, it is also recommended to upgrade Fast CDR to v1.0.27.

This release includes the following features:

1. New on_unacknowledged_sample_removed callback in DataWriterListener.

2. Secure Discovery Server.

3. DomainParticipant ignore empty API.

4. RTPS ReaderListener::on_incompatible_type and WriterListener::on_incompatible_type empty API.

This release includes the following improvements:

1. Fast DDS improvements

   1. Improve behavior when STRICT_REALTIME CMake option is not enabled.

   2. Using functors for for_matched_readers parameter.

   3. Improve auto GAPs in Data Sharing.

   4. Use standard value for PID_RELATED_SAMPLE_IDENTITY.

2. Contributions and repository quality

   1. Update Pull Request template.

   2. Update foonathan_memory quality declaration.

   3. Update XSD schema.

   4. Make network headers private avoiding exposing non-public API.

   5. Improve Doxygen documentation for ResourceLimitsQosPolicy.

3. Examples

   1. New Request-Reply example.

4. CI improvements

   1. New workflow to check documentation build.

   2. ASAN workflow updated to use Ubuntu 22.04.

5. Dependencies

   1. Upgrade internal type supports using latest Fast DDS-Gen release v2.4.0.

   2. Upgrade Fast CDR submodule to v1.0.27.

6. Fast DDS CLI

   1. Handle SIGTERM signal.

7. Community supported platforms

   1. QNX 7.1 build infrastructure.

This release includes the following fixes:

1. Security vulnerability

   1. Fix chain of trust issues with a single CA certificate.

2. Bugfixes

   1. Fix RTPS StatelessWriter ACK check.

   2. ASAN (Address Sanitizer) fixes.

   3. UBSan (Undefined Behavior Sanitizer) fixes.

   4. Export public API correctly in Windows.

   5. Correctly handle builtin endpoints mask.

   6. Fix backwards compatibility using SHM communication.

   7. Protect against uncaught exception in SHM segment creation.

   8. Fix build for GCC 5.

   9. Validity check for first sequence number.

   10. Fix crash when enabling DisablePositiveACKsQoSPolicy with remote best-effort readers.

3. Synchronization fixes

   1. Take mutex when removing local reader in WLP.

   2. Fix data races in SecurityManager authentication process.

4. CI fixes

   1. Fix test building when using GTEST_INDIVIDUAL CMake option.

   2. Fix overflow in received samples in performance tests.

5. Example fixes

   1. Avoid creating entities within callbacks in DynamicHelloWorldExample.

   2. Remove Asio dependency from DeadlineQoSExample.

6. Repository fixes

   1. Remove 2.7.x as active branch.

7. Community supported platforms

   1. Include right header when building for iOS.

Note

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

Version 2.6

Version 2.6.7

This release includes the following features:

1. Support Autofill port (automatically set a port) for TCP Transport.

2. Define a super client by environment variable

3. Support TCP Discovery server CLI and environment variable

4. Define methods (environment variable, rtps layer, xml) to configure transport scenarios

5. Secure discovery server

This release includes the following improvements:

1. Log warning message upon receiver resource creation failure.

2. Add tests for reconnection with same GUID

3. Use foonathan memory manager for reducing allocations in SharedMemManager.hpp

4. Simplify code in CDRMessage.

5. Rerun failed tests with ctest option instead of colcon’s.

6. Several improvements on CI jobs.

7. Upgrade CMake minimum requirement to 3.16.3

8. Update PR checklist template. Backports and Description

This release includes the following bugfixes:

1. Fix DomainParticipant::register_remote_type return when negotiating type.

2. Fix RemoteBuiltinEndpointHonoring blackbox test.

3. Allow participant profiles with no rtps tag.

4. Fix bad-free when receiving malformed DATA submessage.

5. Fix clang warnings

6. Use STL implementation of Timed/RecursiveTimedMutex when MSVC >= 19.36.

7. Fix encapsulation format in WLP.

8. Fix the clang build for clang 14.

9. Notify data-sharing listener at the end of a successful matching in intraprocess.

10. Updatable disable_positive_acks period.

11. Fix Data Race when updating liveliness changed in WLP.

12. Fix TCP sender resources creation.

13. Fix flow controllers unit tests compilation when using Fast CDR from thirdparty.

14. Add XML parser bit_bound bounds check.

15. Use FASTRTPS_NO_LIB on unittest root folder.

16. Use SO_EXCLUSIVEADDRUSE for Win32 unicast listening sockets.

17. Fix mac address overflow on windows.

18. Fix PubSubAsReliable test.

19. Fix FileWatchTest.

20. Add missing thread include.

21. Fix missing mandatory attribute check in XML parser struct type.

22. Better handling of trigger events in docs CI.

23. Fix memory problem when ciphering payload

24. Select correct .repos file on push events

25. Update TLS unit test certificates

26. Fix bad-free when receiving malformed DATA_FRAG submessage

27. Fix data race on writer destruction while sending heartbeat

28. Fix DiscoveryServer list access deadlock

29. Fix c++11 support for fast discovery server tool

30. Fix CVE-2023-50257

31. Fix std::move warning

32. Fix Github Windows CI

Note

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

Version 2.6.6

This release includes the following improvements:

1. Improve validation on PID_PROPERTY_LIST deserialization.

2. Improved CPU usage of timed events thread.

3. Improved performance on intraprocess + data-sharing.

4. Explicitly register type object in ContentFilteredTopicExample.

5. Improve installer generation with documentation version fallback.

6. Improve content filter expression parameters checks and verbosity.

This release includes the following bugfixes:

1. Fixed long-standing reconnection issues on SHM transport.

2. Correctly resolve alias in DDSQLFilter.

3. Fixed partition copy in QoS.

4. Added length checks to prevent nullptr memory copy calls.

5. Fixed XMLParser null-dereference when parsing log configuration.

6. Fixed SHM in 32-bit architectures.

7. Added missing include.

8. Avoid double definition of FASTDDS_ENFORCE_LOG_INFO.

9. Fixed statistics data_count with data-sharing.

Note

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

Version 2.6.5

This release includes the following improvements:

1. Improve behavior when STRICT_REALTIME CMake option is not enabled.

2. Using functors for for_matched_readers parameter.

3. Improve auto GAPs in Data Sharing.

This release includes the following bugfixes:

1. Fix RTPS StatelessWriter ACK check.

2. Fix total_read_ to be consistent with Reader’s History after DataReader::get_first_untaken_info().

3. Add deprecation notice to ThroughputControllerDescriptor.

4. UBSan (Undefined Behavior Sanitizer) fixes.

5. Several dependencies fixes upgrading to Ubuntu 22.04.

6. Fix chain of trust issues with a single CA certificate.

7. Correctly handle builtin endpoints mask.

8. Take mutex when removing local reader in WLP.

9. Handle SIGTERM signal in Fast DDS CLI.

10. Fix data races in SecurityManager authentication process.

11. Avoid creating entities within callbacks in DynamicHelloWorldExample.

12. Remove Asio dependency from DeadlineQoSExample.

13. Validity check for first sequence number.

14. Include right header when building for iOS.

15. Fix build on MSVC 19.

16. Correctly assign multicast port to multicast initial peers.

17. Select correct listener for on_requested_deadline_missed().

18. Forward compatibility with boost inter-process 1.74+.

19. Fix missing includes when building with GCC 13.

20. Honor allow_unauthenticated_participants flag.

21. Capture all Fast CDR exceptions.

22. Fix example to delete Topic after deleting the corresponding Endpoint.

23. Protect against uncaught exception in SHM segment creation.

24. Initial acknack backoff.

Note

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

Version 2.6.4

This release includes the following bugfixes:

1. Fix communication with asymmetric Ignore Participant flags.

2. Fix deadlock in Writer Liveliness Protocol when using intraprocess.

3. Fix notification lost.

Note

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

Version 2.6.3

This release includes the following improvements:

1. Upgrade CMake minimum requirement to 3.13.

2. Improve Guid_t operator < performance.

This release includes the following bugfixes:

1. Add python3 dependency to package.xml.

2. Fix complex member printing for DynamicDataHelper.

3. Fix selection of output locators.

4. Fix null references on XML parser.

5. Fix data races when creating DataWriters.

6. Send GAPs correctly when using separate sending.

7. Install Statistics IDL file.

8. Fixes for building in older compilers.

9. Fix deadlock when removing DomainParticipant when using SECURITY.

10. Ensure shared_mutex implementation is consistent throughout supported platforms.

11. Other minor 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 fastddsgen. If you are upgrading from any older version, regenerating the code is highly recommended.

Version 2.6.2

This release includes the following improvements:

1. Support for GCC 12.

2. Overload DataReader::get_unread_count().

3. Improve read/take performance when using topic with a great number of keys.

4. Improve rediscovery on lossy environments.

This release includes the following bugfixes:

1. Fixed several deadlocks and data races.

2. Fixed validation on ParameterPropertyList_t.

3. Fixed wrong usage of std::remove_if.

4. Fixed acknowledgement in DataSharing.

5. Other minor fixes.

Note

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

Version 2.6.1

This release includes the following improvements:

1. Support for writer side content filtering

2. Support hexadecimal values on SQL filter

3. Support for DataWriter::get_key_value()

4. Support for DataReader::lookup_instance()

5. Support for SampleLostStatus on DataReader

6. Improved doxygen documentation

Some bugfixes are also included:

1. Fixed several lock order inversion issues

2. Fixed data race when closing UDP channels

3. Fixed empty partition validation checks

4. Fixed corner case with reliable writers and samples with a huge number of fragments

5. Other minor 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 fastddsgen. If you are upgrading from any older version, regenerating the code is highly recommended.

Version 2.6.0

This minor release is API compatible with the previous minor release, but introduces ABI breaks on two of the three public APIs:

• Methods and attributes have been added on several classes of the DDS-PIM high-level API, so indexes of symbols on dynamic libraries may have changed. Some API is also being deprecated.

• Methods and attributes have been added on several classes of the RTPS low-level API, so indexes of symbols on dynamic libraries may have changed.

• Old Fast-RTPS high-level API remains ABI compatible.

This minor release includes the following features:

1. Allow modifying remote server locators at runtime

2. Add statistics physical information to DATA[p] using properties

3. Content filter discovery information RTPS API

4. Endpoint discovery RTPS API

5. on_sample_lost RTPS API

6. Transport layer API extension

7. XML support for Fast DDS CLI

8. New exchange format to reduce bandwidth in Static Discovery

It also includes the following improvements:

1. Support lowercase keywords on SQL filter

2. Separate initialization and enabling of BuiltinProtocols

3. Add disable_positive_acks to Static Discovery XML

4. Several updates in the DDS-PIM API

5. Support for octet vectors on XML parser

6. Update README and roadmap

7. Update Fast-CDR submodule to v1.0.24

8. Add new CMake option APPEND_PROJECT_NAME_TO_INCLUDEDIR

Some bugfixes are also included:

1. Fix MatchedStatus last_*_handle

2. Fix recommended statistics DataReaderQos to enable backwards compatibility

3. Fixes for supporting Python bindings in Windows platforms

4. Fix publishing physical data on statistics topic

5. Other minor 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 fastddsgen. If you are upgrading from any older version, regenerating the code is highly recommended.