Version 2.3.0

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.

  • 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 release adds the following features:

It also includes the following improvements:

  • Data-sharing delivery internal refactor

  • Additional metadata on persistence databases

  • Refactor on ReturnCode_t to make it switch friendly

  • Performance tests refactored to use DDS-PIM high-level API

  • Receive const pointers on delete_xxx methods

  • Discovery server improvements

  • Made SOVERSION follow major.minor

Some important bugfixes are also included:

  • Fixed shared memory usage on QNX

  • Fixed reference counting on internal pools

  • Fixed singleton destruction order

  • Fixed interoperability issues with x-types information

  • Fixed recovery of shared memory buffers

  • Lifespan support in persistent writers

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.

Previous versions

Version 2.2.0

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.

  • 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 release adds the following features:

  • Data Sharing delivery (avoids transport encapsulation for localhost communications)

  • Complete DDS-PIM high-level API declarations

  • Extension APIs allowing zero-copy delivery (both intra-process and inter-process)

  • Upgrade to Quality Level 1

It also includes the following improvements:

  • Code coverage policy

  • Added several tests to increase coverage

  • Increased GUID uniqueness

  • Allow logInfo messages to be compiled on build types other than debug

Some important bugfixes are also included:

  • Fixed timed events manager race condition

  • Fixed payload protection issues with SHM transport

  • Writers correctly handle infinite resource limits on keyed topics

  • Fixed unsafe code on AESGCMGMAC plugin

  • Several fixes for IPv6 (whitelists, address parser)

  • Fixes on liveliness timing handling

  • Fixed warnings building on C++20

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 2.1.0

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.

  • 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.

Users of the RTPS low-level API should also be aware of the following API deprecations:

  • History::reserve_Cache has been deprecated

    • Methods RTPSWriter::new_change or RTPSReader::reserveCache should be used instead

  • History::release_Cache has been deprecated

    • Methods RTPSWriter::release_change or RTPSReader::releaseCache should be used instead

This release adds the following features:

  • Support persistence for large data

  • Added support for on_requested_incompatible_qos and on_offered_incompatible_qos

  • SKIP_DEFAULT_XML environment variable

  • Added FORCE value to THIRDPARTY cmake options

  • New log consumer (StdOutErrConsumer)

  • Added methods to get qos defined in XML Profile

  • Support for persistence on TRANSIENT_LOCAL

It also includes the following improvements:

  • Internal refactor for intra-process performance boost

  • Allow usage of foonathan/memory library built without debug tool

  • Large data support on performance tests

  • Reduced flakiness of several tests

Some important bugfixes are also included:

  • Fixed behavior of several DDS API methods

  • Fixed interoperability issues with RTI connext

  • Fixed DLL export of some methods

  • Avoid redefinition of compiler defined macros

  • Fixed some intra-process related segmentation faults and deadlocks

  • Fixed large data payload protection issues on intra-process

  • Fixed C++17 and VS 2019 warnings

  • Fixed linker problems on some platforms

  • Fixed transient local retransmission after participant drop

  • Fixed assertion failure on persistent writers

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 2.0.2

This release includes the following improvements:

  • Improve QNX support

  • Security improvements

  • Fast DDS Quality Declaration (QL 2)

  • Large traffic reduction when using Discovery Server (up to 85-90% for large deployments)

  • Configuration of Clients of Discovery Server using an environment variable

  • A CLI for Fast DDS:

    • This can be used to launch a discovery server

    • Clean SHM directories with one command

  • Shared memory transport enabled by default

  • Solved edge-case interoperability issue with CycloneDDS

  • Add package.xml

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 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.

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 ROS 2 Support: Fast RTPS is used by ROS 2, the upcoming release of the Robot Operating System (ROS).

  • Better documentation: More content and examples.

  • Improved performance.

  • Bug fixing.