ros2 humble(fastdds v2.6.9) can use dds-router?

[Autostone-c]

My project is based on Ros2 Humble. I now want to use DDS router for isolation and WAN communication, but I encountered many errors during the source code compilation, which seems to be an issue with the FastDDS version. If I want to compile DDS router on FastDDS (v2.6.9), which version(dds-router) should I use?

[juanlofer-eprosima]

Hi @Autostone-c, indeed if trying to compile a recent version of DDS-Router a higher Fast-DDS version is required. Your options are:

• Build DDS-Router v0.3.0 against the Fast-DDS present in ROS. These are the dependencies for that version, the one for Fast-DDS is not exactly the same but should probably work.
• Build a recent 2.x DDS-Router (v2.2.0 for example, avoid 3.x due to prevent incompatibilites), adding to your workspace the required Fast-DDS version (do not use the one present in ROS).
• Use instead a Vulcanexus humble docker image, which is our ROS 2 distribution with the latest middleware features and bugfixes, additionally including useful tools for developing and monitoring ROS2 applications. Cloud and desktop tags will contain DDS-Router application.