Overview

jRTPS is an implementation of RTPS 2.1 protocol by OMG. RTPS protocol is designed to provide interoperability between different DDS implementations. jRTPS also provides a simplistic DDS alike programming interface, udds, that can be used to read/write data from/to DDS domain. There is also an ongoing effort, jDDS, that utilizes jRTPS as its transport.

Here is a list of related OMG documents

  • RTPS. This is the main document used in implementation of jRTPS. Current implementation is based on version 2.1 of the specification. However, version 2.2 is also available.
  • DDS. DDS specification is used as a reference while implementing uDDS.
  • X-Types. Some of the parameter IDs and new QoS policies are found in this document. See Annex D: DDS Built-in Topic Data Types.
  • DDS security. At some point, jRTPS will be 100% wire compatible with this specification.
  • DDS4CCM. While jRTPS does not try to address most of this document, XML QoS definition looks interesting.
  • DDS-RPC. This document specifies remote procedure calls using DDS and RTPS

Getting started

To get started, add jrtps as a dependency to your projects pom.xml. maven.org For publish and subscribe type of work, you need jrtps package and for Remote Procedure Calls(RPC), you need dds-rpc package.

ChangeLog

Full ChangeLog can be seen in here

1.5.0

  • Added implementation of dds-rpc specification
  • Turned into multimodule build