2.10.6

Stable Release

• Free and Open Source: Apache 2.0 License
• Commercial Support Available.

Main Features

• High performance. See the performance benchmarks in the product page.
• Multi-Platform: Windows, Linux, Mac OS, iOS, Android, Raspbian.
• Easy to use: Hello world video tutorial available in the product page.
• Full DDS & RTPS compliance: OMG DDS1-4 & RTPS 2.2 Compliant. Best Effort and Reliable Communications in both Unicast and Multicast.
• DDS Security Support.

What is new:

This release includes the following fixes:

1. Remove double // in some installation paths (#5254)
2. Discard changes with big key-only payload and no key hash (#5275)
3. Fix DataReaderHistory regression (#5333)
4. Be less strict with parameter lengths (#5248)
5. Check if SHM transport is disabled in LARGE_DATA modes (#5378)
6. Fix issues in Dynamic Network Interfaces (#5390)

This release includes the following improvements:

1. Add references to new nightly jobs per supported branch in README (#5299)
2. Update commercial support section in readme (#5323)
3. Modify help command of XML CLI tool (#5250)

Github CI management:

1. Allow runing CI on external contributions (#5289)

PRs in merged order:

#5289, #5299, #5254, #5275, #5333, #5323, #5250, #5248, #5378, #5390, #5395

Prior versions:

2.10.5

This release includes the following features in an ABI compatible manner:

1. Add XML configuration for FlowControllerDescriptor

This release includes the following improvements:

1. Use %* instead of loop in .bat scripts

2. Documentation improvements

3. Use absolute paths when loading XML files

4. Reduce tests flakiness

5. Add unsigned specification to literals

Github CI management:

1. Set fallback branch for get_related_branch_from_repo correctly

2. Fix sanitizers CI test summary report

3. Run selected VS tool on Windows CI

4. Use token for CCache action

5. Refactor Fast DDS Ubuntu CI to include several tests

6. Avoid CCache in some Github workflows

7. Build profiling tests as alternate build in Ubuntu CI

8. Add Ubuntu weekly CI

9. Fix python version in sanitizers CI

10. Fix windows CI and add vanilla build step in Ubuntu CI

11. Use eProsima-CI action to install Qt

12. Update types regeneration script homing path

This release includes the following fixes:

1. Automatically unmatch remote participants on participant deletion

2. Only apply content filter to ALIVE changes

3. Fix liveliness state in a multiple reader - one writer scenario

4. Fix topic interference on liveliness_changed status

5. Fix DS servers not connecting due to ports logic

6. Fix issue with exclusive ownership and unordered samples

7. Fix SecurityManager memory issue

8. Correctly initialize MatchingFailureMask constants to be used with the std::bitset API

9. Fix data race in TypeObjectFactory::get_instance

10. Properly delete builtin statistics writers upon delete_contained_entities()

11. Fix secure simple participants with initial peers not matching over TCP

12. Fix access violations on XML parser detected by OSS-fuzz

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.

2.10.4:

This release includes the following features in an ABI compatible manner:

1. TCP Client and Server Participant Decision Making.

2. Authentication Handshake Properties documentation.

3. New max_message_size property to limit output datagrams size.

This release includes the following improvements:

1. Return const reference in get_log_resources.

2. Include variety of terminate process signals handler in discovery server.

3. Check History QoS inconsistencies.

4. Make DataWriters always send the key hash on keyed topics.

5. LARGE_DATA Participants logic with same listening ports.

6. Effectively assert AUTOMATIC/MANUAL_BY_PARTICIPANT liveliness.

7. Improve checklist on PR template.

8. Allow processing of AckNack submessages with count == 0.

9. Internal refactor on port handling.

10. Upgrade Fast CDR submodule to v1.0.28

TCP transport improvements:

1. TCP non-blocking send.

2. Enabling multiple interfaces through whitelist in TCP servers.

3. Set real TCP non-blocking-send limitation.

4. Clean up TCP send resources on peer disconnection.

Github CI management:

1. Add macOS Github CI.

2. Avoid running GitHub CI if PR has conflicts.

3. Add Ubuntu Github CI.

4. Improve CI version management.

5. Pin CMake version and vm.mmap_rnd_bits in sanitizer workflows.

6. Only run PRs CI when review is requested.

7. Refactor Github CI sanitizer related jobs.

8. Build ShapesDemo on Ubuntu Github CI.

9. Fix Python version and environment.

10. Add DNS entries to hosts files on Github workflows.

11. Build Fast DDS Python bindings in Fast DDS Docs Github CI job.

This release includes the following fixes:

1. Fix and refactor Windows Github CI.

2. Fix wrong log info messages on TCP.

3. Add a keyed fragmented change to the reader data instance only when complete.

4. Prevent index overflow and correctly assert the end iterator in DataSharing.

5. Fix the shared memory cleaning script.

6. Fix CI documentation workflow label triggering.

7. Add missing virtual destructor for StatisticsAncillary.

8. Migrate apt package installation action to eProsima-CI.

9. Add missing TypeLookup listeners.

10. Fix doxygen docs warnings. Prepare for compiling with Doxygen 1.10.0.

11. Upgrade dependency version to last patch version in .repos file.

12. Fix TCP reconnection after open logical port failure.

13. Avoid unhandled asio exceptions.

14. Fix CVE-2024-28231.

15. Fix data race on PDP.

16. Fix flaky Log tests.

17. Fix some flaky MacOS tests.

18. Fix hidden overloaded virtual methods.

19. Fix test filtering in CMake files.

20. Avoid first message loss in TCP.

21. Fix CVE-2024-30258 / CVE-2024-30259.

22. Enforce SHM ports open mode exclusions.

23. Force unlimited ResourceLimits if lower or equal to zero.

24. Removed warning in ParameterList.

25. Make DataReader::get_first_untaken_info() coherent with read()/take().

26. Fix leak in SecurityManager.

27. Fix support for @key annotation in DynamicTypes.

28. Fix leaks in XML parser for DynamicTypes.

29. Fix Discovery Server over TCP.

30. Handle errors when setting socket buffer sizes.

31. Fix on_sample_lost notification on best-effort readers for fragmented samples.

32. Fix DataSharing QoS deserialization.

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.

This release includes the following features in an ABI compatible manner:

1. Support Autofill port (automatically set a port) for TCP Transport.

2. Define a super client by environment variable

3. Support TCP Discovery server CLI and environment variable

4. Define methods (environment variable, rtps layer, xml) to configure transport scenarios

5. Custom pools on DDS layer (DataWriter and DataReader)

This release includes the following improvements:

1. Log warning upon receiver resource creation failure

2. Simplify code in CDRMessage

3. Backport workflows from master

4. Rerun failed tests with ctest option instead of colcon’s

5. Use foonathan memory manager for reducing allocations in SharedMemManager.hpp

6. Add CCache to all CI jobs

This release includes the following bugfixes:

1. Fix RemoteBuiltinEndpointHonoring blackbox test

2. Fix bad-free when receiving malformed DATA submessage

3. Fix clang warnings

4. Use STL implementation of Timed/RecursiveTimedMutex when MSVC >= 19.36

5. Notify data-sharing listener at the end of a successful matching in intraprocess

6. Fix the clang build for clang 14

7. Fix HelloWorld Data-Sharing example idl

8. Fix the behaviour of disable_positive_acks period

9. Fix DomainParticipant::register_remote_type return when negotiating type

10. Fix Data Race when updating liveliness changed in WLP

11. Fix TCP sender resources creation

12. Fix flow controllers unit tests compilation when using Fast CDR from thirdparty

13. Add XML parser bit_bound bounds check

14. Add tests for reconnection with same GUID

15. Fix Github Windows CI

16. Fix PubSubAsReliable test

17. Use FASTRTPS_NO_LIB on unittest root folder

18. Fix missing mandatory attribute check in XML parser struct type

19. Fix mac address overflow on windows

20. Use SO_EXCLUSIVEADDRUSE for Win32 unicast listening sockets

21. Fix FileWatchTest for Github windows CI

22. Add missing thread include

23. Update TLS unit test certificates

24. Select correct .repos file on push events

25. Fix documentation CI branch

26. Fix TCP deadlock on channel reuse

27. Fix DNS filter in CMakeLists file for tests

28. Fix bad-free when receiving malformed DATA_FRAG submessage

29. Fix memory problem when ciphering payload

30. Fix build with TLS, but not security

31. Fix CVE-2023-50257

32. Fix data race on writer destruction while sending heartbeat

33. Fix comparison in remove_from_pdp_reader_history

34. Fix data race in PDPListener and SecurityManager

35. Update PR template to include check for PR description, title and backports

36. Fix std::move warning

37. Revert “TCP deadlock on channel reuse”

38. Fix max clash with Windows CI

39. Remove unnecessary TCP warning

40. Discard already processed samples on PDPListener

41. TCP unique client announced local port

See the full release notes for more details.

 2.10.2:

This release includes the following improvements and bugfixes:

• Improvements:
  • Fix Data-Sharing delivery when data_count is zero 
  • Improve performance of intraprocess plus data-sharing
  • Improve content filter expression parameters checks and verbosity
  • Improve validation on PID_PROPERTY_LIST deserialization
  • Participant ignore local endpoints
  • Pick smallest available participant ID for new participants
  • Improve endpoint QoS XML tags
  • Forward compatibility with boost interprocess 1.74+
  • Cap Thread Sanitizer memory usage to prevent runner shutdown
  • Allow participant XML profile with no  tag
  • Add unsupported note in API documentation to new ignore DomainParticipantListener callbacks
  • Add documentation version fallback
• Bugfixes:
  • Fixed long-standing reconnection issue on SHM transport
  • Fix null dereference when fuzzing
  • Fix segfault when creating two participant with same fixed id
  • Fix UBSan (Undefined Behavior Sanitizer) issues
  • Fix listener selection for on_requested_deadline_missed
  • Fix build on msvc 19.36.32528
  • Fix XML schema to set Transport descriptor kind as NOT mandatory
  • Fix missing includes
  • Fix overhead time unit
  • Fix request reply example spelling typo
  • Fix topic deletion after endpoint in examples
  • Fix Data-Sharing delivery when data_count is zero
  • Wait for log background thread initialization on the first queued entry
  • Fix alias resolve in DDSSQLFilter
  • Fix partition copy in QoS
  • Fix StatelessWriter locators filtering
  • Fix XMLParser null-dereference in parseLogConfig
  • Fix encapsulation format in WLP
  • Replace uint64_t by 8 in alignas specifier
  • Capture all Fast CDR exceptions
  • Security module: Honor allow_unauthenticated_participants flag
  • Explicitly register type object in ContentFilteredTopicExample
  • Avoid double definition of FASTDDS_ENFORCE_LOG_INFO
  • Fix API Fast DDS v2.10.0 API break calling correctly on_participant_discovery callbacks
  • Remove mutex from TimedEventImpl

2.10.1:

This release includes the following bugfixes and improvements:

• Bugfixes:

  • Fix repeated matched event notification.

  • Fix regression introduced by #3396.

  • Initial acknack backoff.

  • Fix regular expression in XML schema.

  • Correctly assign multicast port to multicast initial peers.

• CI Improvements:

  • Update runner and GCC version for Thread Sanitizer job.

2.10.0:

This release includes the following features besides many other improvements and bugfixes:

• Features:
  • Secure Discovery Server. Now users can configure Security on Discovery Server deployments.
  • New on_unacknowledged_sample_removed callback in DataWriterListener. This callback is useful in overloaded systems to detect any possible data loss.
• Improvements:
  • Community supported platforms. Now QNX 7.1 build infrastructure is supported
  • New Request-Reply example
  • CI improvements, more checks and configurations available
  • Update XSD schema: to an easier XML validation
  • Contributions to increase repository quality

2.9.1:

This release includes the following bugfixes:

• Synchronization fixes:
  • Fix deadlock in Writer Liveliness Protocol (WLP) using intraprocess.
  • Fix data race in DomainParticipant::set_listener().
  • Fix deadlock on TLS closure.
• Other fixes:
  • Fix notification lost.
  • Fix total_read_ to be consistent with Reader’s History after DataReader::get_first_untaken_info().
  • Use shared pointers for internal singletons.
  • Support CCache on Windows.
  • Avoid null dereference on fuzzer.
  • Other minor fixes and improvements.

2.9.0:

Mind that, even though this release is API compatible with previous v2.x versions, it is NOT ABI compatible with previous versions. This means that applications upgrading Fast DDS to v2.9.0 will require recompilation, though not source code modification.

This release includes the following features and improvements besides many others and various bugfixes:

• New log macros EPROSIMA_LOG_INFO, EPROSIMA_LOG_WARNING and EPROSIMA_LOG_ERROR.
• Add ENABLE_OLD_LOG_MACROS CMake option to support disabling the compilation of previous log macros.
• CI improvements:
  • Add address sanitizer job for Fast DDS library.
  • Add address sanitizer job for Discovery Server test suite.
• Upgrade Fast CDR submodule.
• Synchronization fixes:
  • Fix deadlock when removing remote DomainParticipants by expired liveliness when using Security.
  • Protect DomainParticipant::set_listener() avoiding null reference.
  • Fix data race on WriterProxy::stop while TimedEvent is being triggered.
  • Protect creation/destruction of Boost’s named_mutex.
• CI fixes:
  • Fix Statistics Module test suite.
  • Fix recurring data races in test suite.
  • Fix thread sanitizer job keeping Ubuntu 20.04.

2.8.1:

• Synchronization fixes:
  • Fix data races when creating DataWriters.
  • Ensure shared_mutex implementation is consistent throughout supported platforms.

• Address sanitizer fixes:
  • Add ASAN CI job and SANITIZE CMake option.
  • Fixes reported by address sanitizer.

• Statistics module fixes:
  • Increase statistics DataWriter history.
  • Fix Statistics module CI.
  • Install Statistics IDL file.
  • Fix for building in old compilers.
  • Fix core dumped in delete_contained_entities().

...and others

2.8.0:

Mind that, even though this release is API compatible with previous v2.x versions, it is NOT ABI compatible with previous versions. This means that applications upgrading Fast DDS to v2.8.0 will require recompilation, though not source code modification.

This release includes the following features besides many other improvements and bugfixes:

• Full Ownership and OwnershipStrength QoS support
• External locators
• UDPv6 support for fast-discovery-server tool and ROS_DISCOVERY_SERVER
• XML configuration support for statistics DataWriters QoS
• SNI support
• Propagate PropertyQoS properties when explicitly set
• Add API to createRTPSWriter with a custom pool
• Add std::string::compare API to fixed_string
• Get WAN address API in TCPv4 transport descriptors
• Adding DomainParticipantFactory::get_shared_instance() API

2.7.1:

• Checking STATIC EDP XML Files by means of DomainParticipantFactory::check_xml_static_discovery().
• ReadCondition implementation.
• Thread sanitizer CI.
• Overload get_unread_count().
• Improve read/take performance when using topic with a great number of keys.
• Improve rediscovery on lossy environments.
• New CMake option USE_THIRDPARTY_SHARED_MUTEX.
• Notify changes in bulk in RTPS readers.
• Fix Fast CDR submodule update to v1.0.24.
• Fix access to some pointers.
• Fixed acknowledgement in DataSharing.
• and other

2.7.0:

• Support for DDS SampleRejectedStatus API
• Support for DDS DataWriter methods:
  • DataWriter::write_w_timestamp()
  • DataWriter::register_instance_w_timestamp()
  • DataWriter::unregister_instance_w_timestamp()
  • DataWriter::dispose_w_timestamp()
• Support for DDS find_topic()
• Support for GCC 12
• Upgrade CMake minimum requirement to 3.16.3
• Add Windows DLL support to Dynamic Types API
• Deadlocks and data races
• Move deprecated OpenSSL cleanup function to match the right version

2.6.1:

• Support for writer side content filtering
• Support hexadecimal values on SQL filter
• Support for DataWriter::get_key_value()
• Support for DataReader::lookup_instance()
• Support for SampleLostStatus on DataReader
• Improved doxygen documentation
• Fixed several lock order inversion issues
• Fixed data race when closing UDP channels
• Fixed empty partition validation checks
• Fixed corner case with reliable writers and samples with a huge number of fragments
• Other minor fixes and improvements

2.6.0:

• Allow modifying remote server locators at runtime
• Add statistics physical information to DATA[p] using properties
• Content filter discovery information RTPS API
• Endpoint discovery RTPS API
• on_sample_lost RTPS API
• Transport layer API extension
• XML support for Fast DDS CLI
• New exchange format to reduce bandwidth in Static Discovery
• Support lowercase keywords on SQL filter
• Separate initialization and enabling of BuiltinProtocols
• Support for octet vectors on XML parser
• Update README and roadmap
• Fix recommended statistics DataReaderQos to enable backwards compatibility
• Fixes for supporting Python bindings in Windows platforms
• Fix publishing physical data on statistics topic
• etc.

2.5.1:

• ContentFilterTopic filtering at the DataReader side
• Release lifecycle
• XML parser fixes
• Discovery Server fixes
• Fix DataSharing sample validation

2.5.0:

• Support for PKCS#11 format URIs for private keys
• Added interfaces for content filter APIs
• Allow new network interfaces to be detected at runtime
• New API on DataWriter to wait for a specific instance to be acknowledged
• Added interfaces for concatenation of transports
• Allow XML profiles to be loaded from a string
• Allow disabling piggyback heartbeat on XML and DataWriter QoS
• New basic configuration example

2.4.1:

• Fixed several flaky tests
• Improved bandwidth usage of GAPs and HEARTBEATs
• Correctly implement delete_contained_entities
• Use native inter-process on Windows
• Improved performance of unregister_instance
• Improved OSS-fuzz integration
• Support for partitions on DataWriterQoS and DataReaderQoS
• Some documentation improvements
• Removed unused macro to avoid naming clashes

2.4.0:

• Conditions and Wait-sets implementation.
• Flow controllers.
• Configure Discovery Server locators using names.
• Modifying remote servers list at run time.
• Environment file override.
• Allow setting custom folder for data-sharing files.
• Allow setting persistence guid with static discovery.
• Check for NDEBUG in logInfo.
• Removed old unused CMake code.
• Fixed TLS behavior on TCP example.
• Prepare API for easy integration of python bindings.
• Improved statistics performance.

2.3.4:

• Support of googletest using colcon
• Network latency reports source participant
• Update Fast DDS Gen to v2.0.2

2.3.3:

• Added more durability kinds in Static Discovery xml parser
• Explicitly enable/disable data-sharing on performance tests
• Allow fully qualified name in TypeDescriptor
• Added missing DynamicData::get_union_id() method
• Change log severity in DiscoveryServer first announcement
• Several corrections to README

2.3.2:

• Statistics Module
• Update Asio submodule and avoid exporting Asio API
• Improve Windows installers
• Ease Google Fuzz integration
• Improve Doxygen documentation on lifetime of pointers created with RTPSDomain
• Update Fast CDR to v1.0.21

2.3.1:

• Added Fast DDS Statistics Module implementation
• Fixed alignment issues on generated code calculation of maximum serialized size
• Fixed calculation of data-sharing domain id
• Fixed issues on data-sharing with volatile writers
• Fixed build issues on old compilers
• Fixed some tests when the library is built without security
• Fixed and exposed pull mode on writers
• Fixed handling of –data_sharing on latency test
• Fixed calculation of memory pools sizes on debug builds
• Correctly update memory policy on writers and readers

2.3.0:

• Unique network flows
• Discovery super-client
• Statistics module API
• New flow controller API
• Static discovery configuration from raw string
• Added reception timestamp to SampleInfo
• Exposing get_unread_count on DataReader
• 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

 2.2.0

• 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

2.1.0

• 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
• Internal refactor for intra-process performance boost
• Allow usage of foonathan/memory library built without debug tool
• Large data support on performance tests

2.0.2

• 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

2.0.1

• Fixed sending GAPs to late joiners
• Fixed asserting liveliness on data reception
• Avoid calling OpenSSL_add_all_algorithms() when not required

2.0.0

• 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

1.10.0:

• New built-in Shared memory Transport (SHM)
• 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

1.9.3:

• Participant discovery filtering flags.
• Intra-process delivery mechanism opt-in.

1.9.2:

• Multiple initial PDP announcements.
• Flag to avoid builtin multicast.

1.9.1:

• Fast-RTPS-Gen is now an independent project.
• Header eClock.h is now marked as deprecated.

1.9.0:

• Partial implementation of allocation QoS
• Implementation of Discovery Server

1.8.1:

• Implementation of Liveliness QoS

1.8.0:

• Implementation of IDL 4.2
• Implementation of Deadline QoS
• Implementation of Lifespan QoS
• Implementation of Disable positive acks QoS
• Secure sockets on TCP transport (TLS over TCP)

1.7.2:

• Bug fixing

1.7.1:

• Bug fixing
• Support for QNX

1.7.0:

• TCP Transport: Fast RTPS on WAN.
• Dynamic Topic Types: Define your topic data type at runtime.
• DDS Security 1.1 compliance: Latest DDS security specification.

1.6.0:

• Persistence: Saves your sent messages in a database for late use.
• Better Security: Finer Access Control.
• Performance improvements: Even better latency and jitter.

1.5.0:

• Easier Configuration of Fast RTPS entities through XML profiles.
• Improved Reliability protocol: Added piggybacked heartbeat support.

1.4.0:

• Security: Authentication and encryption support. DDS Security Specification compliant. 
• Cpp 11 Support.
• Removed Boost Libraries Dependencies.
• Android Support
• Improved performance for large data.

1.3.1:

• New examples that illustrate how to tweak Fast RTPS towards different applications.
• Improved support for embedded Linux.
• Bug fixing.

1.3.0

• 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.