New CLI tool: fastdds_transport_viz — predict & measure per-topic DDS transport in ROS 2

ROS ROS General
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Hi all,

I built fastdds_transport_viz, a CLI tool that shows which transport (UDPv4/v6, TCP, SHM, or zero-copy data-sharing) each ROS 2 topic actually uses — and why.

  • Predicts the transport per writer→reader pair from Fast DDS discovery data (no changes needed on the observed nodes)
  • With --stats, measures real traffic (rate, latency) via the Fast DDS statistics module
  • --watch live view, --json output, and a web viewer (graph/table)
  • Verified on Jazzy and Kilted/Rolling, x86_64/arm64, including a two-host Wi-Fi setup

rmw_fastrtps_cpp only, Linux only — details in the README.

Repo: https://github.com/atinfinity/fastdds_transport_viz
Docs: https://atinfinity.github.io/fastdds_transport_viz

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Feedback and issues welcome!