# \#rmw

**URL:** https://discourse.openrobotics.org/tag/rmw/220.md

[Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md)

---

## [Native ROS 2 on Zephyr with Cyclone DDS](https://discourse.openrobotics.org/t/native-ros-2-on-zephyr-with-cyclone-dds/58222)

<div class="topic-metadata">

**Author:** [@fj-blanco](https://discourse.openrobotics.org/u/fj-blanco)\
**Replies:** 0\
**Last updated:** [September 17, 2026, 4:47pm UTC](https://discourse.openrobotics.org/t/native-ros-2-on-zephyr-with-cyclone-dds/58222 "2026-09-17T16:47:31Z")

</div>

Hi, I have been experimenting with native DDS for ROS 2 on Zephyr and recently got the standard ROS 2 C client stack running on an ESP32-S3 over Wi-Fi. The current stack is: rclc -\> rcl -\> rmw\_cyclonedds\_c -\> Cyclone …

---

## [Connext Robotics Toolkit for ROS Lyrical Luth is now available](https://discourse.openrobotics.org/t/connext-robotics-toolkit-for-ros-lyrical-luth-is-now-available/55110)

<div class="topic-metadata">

**Author:** [@jghughu](https://discourse.openrobotics.org/u/jghughu)\
**Replies:** 0\
**Last updated:** [May 27, 2026, 7:56am UTC](https://discourse.openrobotics.org/t/connext-robotics-toolkit-for-ros-lyrical-luth-is-now-available/55110 "2026-05-27T07:56:13Z")

</div>

Hi ROS 2 Community, To go with the Lyrical Luth release, RTI has updated the Connext Robotics Toolkit with Connext 7.7 LTS. The toolkit provides a simple single-step Debian installation of Lyrical and Connext DDS RMW on…

---

## [Upcomming RMW Feature Freeze - April 6th, 2026 - ROS Lyrical](https://discourse.openrobotics.org/t/upcomming-rmw-feature-freeze-april-6th-2026-ros-lyrical/53696)

<div class="topic-metadata">

**Author:** [@sloretz](https://discourse.openrobotics.org/u/sloretz)\
**Replies:** 5\
**Last updated:** [May 6, 2026, 7:26pm UTC](https://discourse.openrobotics.org/t/upcomming-rmw-feature-freeze-april-6th-2026-ros-lyrical/53696 "2026-05-06T19:26:40Z")

</div>

Hi all, On 2026-04-07T06:59:00Z (UTC), we will freeze all RMW-related packages to prepare for the upcoming Lyrical Luth release on 2026-05-22T07:00:00Z (UTC). Once this freeze takes effect, we will not accept new featu…

---

## [Eclipse Zenoh 1.9.0 "Longwang" released — Regions, QUIC multistream, Go binding (RMW Zenoh impact inside)](https://discourse.openrobotics.org/t/eclipse-zenoh-1-9-0-longwang-released-regions-quic-multistream-go-binding-rmw-zenoh-impact-inside/54135)

<div class="topic-metadata">

**Author:** [@kydos](https://discourse.openrobotics.org/u/kydos)\
**Replies:** 0\
**Last updated:** [April 18, 2026, 11:36am UTC](https://discourse.openrobotics.org/t/eclipse-zenoh-1-9-0-longwang-released-regions-quic-multistream-go-binding-rmw-zenoh-impact-inside/54135 "2026-04-18T11:36:07Z")

</div>

Eclipse Zenoh 1.9.0 “Longwang” was released yesterday. There’s a fair bit that’s directly relevant to ROS 2 / RMW Zenoh deployments, so I wanted to flag it here for the community. Full release notes: Zenoh 1.9.x: Long…

---

## [Delaying Lyrical RMW and Feature Freezes](https://discourse.openrobotics.org/t/delaying-lyrical-rmw-and-feature-freezes/53858)

<div class="topic-metadata">

**Author:** [@sloretz](https://discourse.openrobotics.org/u/sloretz)\
**Replies:** 0\
**Last updated:** [April 8, 2026, 12:37am UTC](https://discourse.openrobotics.org/t/delaying-lyrical-rmw-and-feature-freezes/53858 "2026-04-08T00:37:31Z")

</div>

Hi all, In today’s ROS PMC meeting we decided to delay the RMW freeze and Feature freeze by 1 week each. The purpose of the delay is to give more time to upgrade and stabilize all Tier 1 RMW implementations. The ROS Lyr…

---

## [Introducing the Connext Robotics Toolkit for ROS 2](https://discourse.openrobotics.org/t/introducing-the-connext-robotics-toolkit-for-ros-2/53311)

<div class="topic-metadata">

**Author:** [@rtidavid](https://discourse.openrobotics.org/u/rtidavid)\
**Replies:** 0\
**Last updated:** [March 17, 2026, 7:44pm UTC](https://discourse.openrobotics.org/t/introducing-the-connext-robotics-toolkit-for-ros-2/53311 "2026-03-17T19:44:21Z")

</div>

Hi ROS 2 Community, I’m pleased to announce that RTI released enhanced support for ROS 2 and rmw\_connextdds today. The new Connext Robotics Toolkit makes it much easier for ROS users to take advantage of Connext and DDS…

---

## [RMW-RMW bridge - is it possible, has anyone done it?](https://discourse.openrobotics.org/t/rmw-rmw-bridge-is-it-possible-has-anyone-done-it/49564)

<div class="topic-metadata">

**Author:** [@peci1](https://discourse.openrobotics.org/u/peci1)\
**Replies:** 6\
**Last updated:** [March 5, 2026, 12:48pm UTC](https://discourse.openrobotics.org/t/rmw-rmw-bridge-is-it-possible-has-anyone-done-it/49564 "2026-03-05T12:48:19Z")

</div>

We’re more and more thinking that there should be a RMW-RMW bridge for ROS 2. Our specific use-case is simple - a microcontroller with MicroROS (thus FastDDS) and the rest would be better with Zenoh RMW. But we can’t us…

---

## [Design discussion: “discoverable not serviceable” ROS interfaces for lifecycle nodes](https://discourse.openrobotics.org/t/design-discussion-discoverable-not-serviceable-ros-interfaces-for-lifecycle-nodes/52842)

<div class="topic-metadata">

**Author:** [@Lotusymt](https://discourse.openrobotics.org/u/Lotusymt)\
**Replies:** 4\
**Last updated:** [March 4, 2026, 7:21pm UTC](https://discourse.openrobotics.org/t/design-discussion-discoverable-not-serviceable-ros-interfaces-for-lifecycle-nodes/52842 "2026-03-04T19:21:53Z")

</div>

Hi all, We’d like to start a design discussion about a lifecycle-related gap that shows up in Nav2 but seems fundamentally ROS 2 / rclcpp-level. Context / links Nav2 PR where this surfaced: nav2\_ros\_common: add lifecy…

---

## [iRobot's ROS benchmarking suite now available!](https://discourse.openrobotics.org/t/irobots-ros-benchmarking-suite-now-available/51921)

<div class="topic-metadata">

**Author:** [@skye.galaxy](https://discourse.openrobotics.org/u/skye.galaxy)\
**Replies:** 7\
**Last updated:** [February 4, 2026, 5:39pm UTC](https://discourse.openrobotics.org/t/irobots-ros-benchmarking-suite-now-available/51921 "2026-02-04T17:39:31Z")

</div>

We’ve just open-sourced our ROS benchmarking suite! Built on top of iRobot’s ros2-performance framework, this is a containerized environment for simulating arbitrary ROS2 systems and graph configurations both simple and …

---

## [How many DDS participants are currently used/allowed by RMW?](https://discourse.openrobotics.org/t/how-many-dds-participants-are-currently-used-allowed-by-rmw/49976)

<div class="topic-metadata">

**Author:** [@peci1](https://discourse.openrobotics.org/u/peci1)\
**Replies:** 5\
**Last updated:** [September 19, 2025, 11:08am UTC](https://discourse.openrobotics.org/t/how-many-dds-participants-are-currently-used-allowed-by-rmw/49976 "2025-09-19T11:08:17Z")

</div>

We’ve currently been running into some issues that look like reaching the maximum number of DDS entities (i.e. nodes are started without error, but do not appear in ros2 node list, neither do their topics appear). If we …

---

## [Remote (Between Internet Networks) Control of Robot Running Micro-ROS](https://discourse.openrobotics.org/t/remote-between-internet-networks-control-of-robot-running-micro-ros/49213)

<div class="topic-metadata">

**Author:** [@Amronos](https://discourse.openrobotics.org/u/Amronos)\
**Replies:** 0\
**Last updated:** [July 22, 2025, 8:08am UTC](https://discourse.openrobotics.org/t/remote-between-internet-networks-control-of-robot-running-micro-ros/49213 "2025-07-22T08:08:00Z")

</div>

Hello, I am looking into solutions for communicating with a robot running Micro-ROS that is not on the same network as the host computer (the computer running ROS 2). The only solution I have found till now is this blo…

---

## [🎉 rmw\_zenoh binaries for Rolling, Jazzy and Humble](https://discourse.openrobotics.org/t/rmw-zenoh-binaries-for-rolling-jazzy-and-humble/41395)

<div class="topic-metadata">

**Author:** [@Yadunund](https://discourse.openrobotics.org/u/Yadunund)\
**Replies:** 25\
**Last updated:** [May 9, 2025, 5:17pm UTC](https://discourse.openrobotics.org/t/rmw-zenoh-binaries-for-rolling-jazzy-and-humble/41395 "2025-05-09T17:17:44Z")

</div>

Hi everyone, New year, new RMW! We’ve released rmw\_zenoh binaries for ROS 2 Rolling, Jazzy and Humble on respective Ubuntu (amd64, arm64) and RHEL (amd64) platforms. The package can be installed with the command sud…

---

## [Upcoming RMW Feature Freeze for ROS 2 Kilted Kaiju on April 7 2025](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-kilted-kaiju-on-april-7-2025/43020)

<div class="topic-metadata">

**Author:** [@mjcarroll](https://discourse.openrobotics.org/u/mjcarroll)\
**Replies:** 1\
**Last updated:** [April 8, 2025, 6:38am UTC](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-kilted-kaiju-on-april-7-2025/43020 "2025-04-08T06:38:18Z")

</div>

Hi all, On 2025-04-08T06:59:00Z (UTC) we will freeze all RMW related packages in preparation for the upcoming Kilted Kaiju release on May 23, 2025. Once this freeze goes into effect, we will no longer accept additional…

---

## [ROS middleware for underwater networks](https://discourse.openrobotics.org/t/ros-middleware-for-underwater-networks/41592)

<div class="topic-metadata">

**Author:** [@dcostan](https://discourse.openrobotics.org/u/dcostan)\
**Replies:** 0\
**Last updated:** [January 16, 2025, 7:15pm UTC](https://discourse.openrobotics.org/t/ros-middleware-for-underwater-networks/41592 "2025-01-16T19:15:54Z")

</div>

Hello everyone! My name is Davide and I am working for the Department of information Engineering at the University of Padova. Together with the underwater group of my laboratory I developed a new middleware implementati…

---

## [Live RMW Zenoh Workshop](https://discourse.openrobotics.org/t/live-rmw-zenoh-workshop/41562)

<div class="topic-metadata">

**Author:** [@JEnoch](https://discourse.openrobotics.org/u/JEnoch)\
**Replies:** 0\
**Last updated:** [January 15, 2025, 11:18am UTC](https://discourse.openrobotics.org/t/live-rmw-zenoh-workshop/41562 "2025-01-15T11:18:48Z")

</div>

Hi all, For everyone interested in learning more about RMW Zenoh, our team will host a workshop live on YouTube (https://www.youtube.com/watch?v=\_NqaILDTT2s) on 2025-01-21T16:00:00Z (UTC). You can add this workshop to y…

---

## [Rust implementation of RMW Zenoh for ROS2 Humble](https://discourse.openrobotics.org/t/rust-implementation-of-rmw-zenoh-for-ros2-humble/41510)

<div class="topic-metadata">

**Author:** [@quadjr](https://discourse.openrobotics.org/u/quadjr)\
**Replies:** 0\
**Last updated:** [January 12, 2025, 4:07am UTC](https://discourse.openrobotics.org/t/rust-implementation-of-rmw-zenoh-for-ros2-humble/41510 "2025-01-12T04:07:23Z")

</div>

Hey there! I’m using ROS2 Humble at work, and I’ve been studying ROS2. Since Zenoh wasn’t supported on Humble until recently, I figured I’d learn Rust and give building a Zenoh RMW in Rust a shot. I kicked off the proj…

---

## [Flexibility in RMW Zenoh: Switching Between Zenoh-CPP and Zenoh Pico Backends](https://discourse.openrobotics.org/t/flexibility-in-rmw-zenoh-switching-between-zenoh-cpp-and-zenoh-pico-backends/41324)

<div class="topic-metadata">

**Author:** [@Immanuel\_Jzv](https://discourse.openrobotics.org/u/Immanuel_Jzv)\
**Replies:** 7\
**Last updated:** [December 30, 2024, 4:09pm UTC](https://discourse.openrobotics.org/t/flexibility-in-rmw-zenoh-switching-between-zenoh-cpp-and-zenoh-pico-backends/41324 "2024-12-30T16:09:26Z")

</div>

I have been following the development of the rmw\_zenoh implementation for ROS 2, and I noticed some significant updates in recent releases. Originally, the project aimed to implement an RMW (ROS Middleware) layer writte…

---

## [rmw\_iceoryx2 v0.1.0 release](https://discourse.openrobotics.org/t/rmw-iceoryx2-v0-1-0-release/40996)

<div class="topic-metadata">

**Author:** [@orecham](https://discourse.openrobotics.org/u/orecham)\
**Replies:** 0\
**Last updated:** [December 6, 2024, 8:29pm UTC](https://discourse.openrobotics.org/t/rmw-iceoryx2-v0-1-0-release/40996 "2024-12-06T20:29:44Z")

</div>

Hi all, orecham here, one of the committers from the eclipse-iceoryx project. I’m pleased to announce the alpha release of rmw\_iceoryx2, compatible with ROS 2 rolling and available at: GitHub - ekxide/rmw\_iceoryx2: ROS…

---

## [Reference implementation of Zenoh-pico to micro-ROS](https://discourse.openrobotics.org/t/reference-implementation-of-zenoh-pico-to-micro-ros/40750)

<div class="topic-metadata">

**Author:** [@k-yokoyama-esol](https://discourse.openrobotics.org/u/k-yokoyama-esol)\
**Replies:** 5\
**Last updated:** [December 4, 2024, 9:45am UTC](https://discourse.openrobotics.org/t/reference-implementation-of-zenoh-pico-to-micro-ros/40750 "2024-12-04T09:45:16Z")

</div>

Zenoh is a new communication middleware that ZettaScale has developed. At eSOL, we have been porting Zenoh-pico to micro-ROS. Zenoh-pico is Zenoh’s implementation for microcontrollers. This post is the announcement of…

---

## [Oh rmw\_zenoh, come quickly!](https://discourse.openrobotics.org/t/oh-rmw-zenoh-come-quickly/36769)

<div class="topic-metadata">

**Author:** [@Bernd\_Pfrommer](https://discourse.openrobotics.org/u/Bernd_Pfrommer)\
**Replies:** 11\
**Last updated:** [April 2, 2024, 4:30pm UTC](https://discourse.openrobotics.org/t/oh-rmw-zenoh-come-quickly/36769 "2024-04-02T16:30:33Z")

</div>

Many years ago I met a missionary who told me about the situation in his home country. Apparently it was so bad that every morning he would pray for the return of the messiah: “Oh Lord, come quickly!”. In that spirit: h…

---

## [Upcoming RMW Feature Freeze for ROS 2 Jazzy Jalisco on April 8th 2024](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-jazzy-jalisco-on-april-8th-2024/36805)

<div class="topic-metadata">

**Author:** [@marcogg](https://discourse.openrobotics.org/u/marcogg)\
**Replies:** 0\
**Last updated:** [March 25, 2024, 2:13am UTC](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-jazzy-jalisco-on-april-8th-2024/36805 "2024-03-25T02:13:38Z")

</div>

Hi all, On 2024-04-07T16:00:00Z (UTC) we will freeze all RMW related packages in preparation for the upcoming Jazzy Jalisco release on May 23rd 2024. Once this freeze goes into effect, we will no longer accept addition…

---

## [Zero-copy DDS Performance Comparison for RMW Providers in ROS 2](https://discourse.openrobotics.org/t/zero-copy-dds-performance-comparison-for-rmw-providers-in-ros-2/22696)

<div class="topic-metadata">

**Author:** [@IkerLuengo](https://discourse.openrobotics.org/u/IkerLuengo)\
**Replies:** 6\
**Last updated:** [December 20, 2023, 2:02pm UTC](https://discourse.openrobotics.org/t/zero-copy-dds-performance-comparison-for-rmw-providers-in-ros-2/22696 "2023-12-20T14:02:29Z")

</div>

Hello ROS community! Following the previous DDS middleware comparison on Windows platforms, today we bring you the performance comparison using zero-copy delivery. This benchmark uses the Apex performance test tool to …

---

## [Upcoming RMW Feature Freeze for ROS 2 Iron Irwini on April 10th 2023](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-iron-irwini-on-april-10th-2023/30547)

<div class="topic-metadata">

**Author:** [@Yadunund](https://discourse.openrobotics.org/u/Yadunund)\
**Replies:** 0\
**Last updated:** [March 27, 2023, 1:44am UTC](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-ros-2-iron-irwini-on-april-10th-2023/30547 "2023-03-27T01:44:19Z")

</div>

Hi all, On April 10th (Monday 2359 PST) we will freeze all RMW related packages in preparation for the upcoming Iron Irwini release on May 23rd 2023. Once this freeze goes into effect, we will no longer accept addition…

---

## [The DDS Race: what we've seen so far](https://discourse.openrobotics.org/t/the-dds-race-what-weve-seen-so-far/27421)

<div class="topic-metadata">

**Author:** [@FelipeGdM](https://discourse.openrobotics.org/u/FelipeGdM)\
**Replies:** 3\
**Last updated:** [September 22, 2022, 3:54pm UTC](https://discourse.openrobotics.org/t/the-dds-race-what-weve-seen-so-far/27421 "2022-09-22T15:54:01Z")

</div>

Hello everyone! My name is Felipe, I’m a mechatronics engineering student and I’m writing an article about ROS 2 messaging performance and in the process I spent some time to understand the evolution steps that brought …

---

## [Receiving / producing (really) large messages on embedded platforms (Micro-ROS)?](https://discourse.openrobotics.org/t/receiving-producing-really-large-messages-on-embedded-platforms-micro-ros/24660)

<div class="topic-metadata">

**Author:** [@gavanderhoorn](https://discourse.openrobotics.org/u/gavanderhoorn)\
**Replies:** 1\
**Last updated:** [April 14, 2022, 5:36am UTC](https://discourse.openrobotics.org/t/receiving-producing-really-large-messages-on-embedded-platforms-micro-ros/24660 "2022-04-14T05:36:26Z")

</div>

(wasn’t sure where to post this, but figured there might be people here who’d have run into a similar situation and might have some ideas) Resources are always finite, but on embedded platforms they’re sometimes really …

---

## [Started RMW Feature Freeze for Humble](https://discourse.openrobotics.org/t/started-rmw-feature-freeze-for-humble/24799)

<div class="topic-metadata">

**Author:** [@audrow](https://discourse.openrobotics.org/u/audrow)\
**Replies:** 0\
**Last updated:** [March 22, 2022, 6:31pm UTC](https://discourse.openrobotics.org/t/started-rmw-feature-freeze-for-humble/24799 "2022-03-22T18:31:15Z")

</div>

As of today, the RMWs will be feature frozen in preparation for the upcoming Humble release on May 23rd. This means that we’ll no longer be accepting additional features to the RMWs, which includes rmw\_fastrtps, rmw\_cycl…

---

## [Upcoming RMW Feature Freeze for Humble on March 21th](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-humble-on-march-21th/24610)

<div class="topic-metadata">

**Author:** [@audrow](https://discourse.openrobotics.org/u/audrow)\
**Replies:** 5\
**Last updated:** [March 19, 2022, 6:56am UTC](https://discourse.openrobotics.org/t/upcoming-rmw-feature-freeze-for-humble-on-march-21th/24610 "2022-03-19T06:56:08Z")

</div>

On Monday, March 21st we’ll freeze the RMW in preparation for the upcoming Humble release on May 23rd. Once this freeze goes into effect, we will no longer accept additional features to the RMW, which includes rmw\_fastr…

---

## [DDS Performance Comparison on Windows for RMW Providers in ROS 2](https://discourse.openrobotics.org/t/dds-performance-comparison-on-windows-for-rmw-providers-in-ros-2/22635)

<div class="topic-metadata">

**Author:** [@Daniel\_Cabezas](https://discourse.openrobotics.org/u/Daniel_Cabezas)\
**Replies:** 5\
**Last updated:** [October 18, 2021, 2:00pm UTC](https://discourse.openrobotics.org/t/dds-performance-comparison-on-windows-for-rmw-providers-in-ros-2/22635 "2021-10-18T14:00:49Z")

</div>

Hello ROS community! Today, we are happy to present to you a DDS middleware performance comparison on Windows platforms. As you may know, RMW providers that compete to be the default provider for the next ROS 2 release…

---

## [👉 Survey: Default DDS Implementation for ROS 2 Humble -- due 10/12/2021](https://discourse.openrobotics.org/t/survey-default-dds-implementation-for-ros-2-humble-due-10-12-2021/22575)

<div class="topic-metadata">

**Author:** [@Katherine\_Scott](https://discourse.openrobotics.org/u/Katherine_Scott)\
**Replies:** 1\
**Last updated:** [October 11, 2021, 8:27pm UTC](https://discourse.openrobotics.org/t/survey-default-dds-implementation-for-ros-2-humble-due-10-12-2021/22575 "2021-10-11T20:27:18Z")

</div>

Hi All, As part of the ROS 2 Humble Hawksbill planning process, the ROS 2 TSC plans to re-evaluate the default ROS middleware layer that will ship with Humble. The motivation for re-evaluating, and potentially changing …

---

## [Zenoh-pico](https://discourse.openrobotics.org/t/zenoh-pico/22541)

<div class="topic-metadata">

**Author:** [@kydos](https://discourse.openrobotics.org/u/kydos)\
**Replies:** 0\
**Last updated:** [October 4, 2021, 12:40pm UTC](https://discourse.openrobotics.org/t/zenoh-pico/22541 "2021-10-04T12:40:37Z")

</div>

Dear ROSers, I wanted to share with you our latest blog on zenoh-pico – the zenoh version for micro-controllers. This blog demonstrates how to build zenoh-pico applications for zephyr, ESP and some STM32 boards along wi…

[Next page](https://discourse.openrobotics.org/tag/rmw/220.md?match_all_tags=true&page=1&tags%5B%5D=rmw)