This library contain main functionality of the DDS Router. Include module is the public API used to configure a DDS Router and to interact with a running one:

• Types: data types used to configure a router.

  • Address
  • DDS info (Guid, Qos, Topic, etc.)

• Configuration: configuration objects that contains the information needed for a DDS Router. Are divided in:

  • ParticipantConfiguration: configuration for each participant inside the DDS Router.
  • DdsRouterConfiguration: configuration to execute a DDS Router, with its Participants and DdsPipeConfiguration.
  • DdsPipeConfiguration: configuration to execute a DDS Pipe, with its allowlist, blocklist, manual topics, and built-in topics.

• Core: it only contains the proxy of DDS Router class, which implementation is inside private modules. It allows to execute a DDS Router, and to interact with it while running.

// START AND STOP DDS ROUTER FROM CONFIGURATION

core::configuration::DdsRouterConfiguration router_configuration;

// ... populate router_configuration

core::DdsRouter router(router_configuration);
router.start();

// ... wait for event

router.stop();

• fastdds
• cpp_utils

Just import library ddsrouter_core into your CMake project.

find_package(ddsrouter_core)
target_link_libraries(${LIBRARY_TARGET_NAME} ddsrouter_core)