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Version 2.0.0

This release has the following API breaks:

  • eClock API, which was deprecated on v1.9.1, has been removed
  • eprosima::fastrtps::rtps::RTPSDomain::createParticipant methods now have an additional first argument domain_id
  • Data member domainId has been removed from eprosima::fastrtps::rtps::RTPSParticipantAttributes and added to eprosima::fastrtps::ParticipantAttributes

Users should also be aware of the following deprecation announcement:

  • All classes inside the namespace eprosima::fastrtps should be considered deprecated. Equivalent functionality is offered through namespace eprosima::fastdds.
  • Namespaces beneath eprosima::fastrtps are not included in this deprecation, i.e. eprosima::fastrtps::rtps can still be used)

This release adds the following features:

  • 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 <https://www.omg.org/spec/DDS/1.4>_
  • Added Security Logging Plugin (contributed by Cannonical Ltd.)
  • Bump to FastCDR v1.0.14

It also includes the following bug fixes and improvements:

  • Support for OpenSSL 1.1.1d and higher
  • Support for latest versions of gtest
  • Support for FreeBSD
  • Fault tolerance improvements to Shared Memory transport
  • Fixed segfault when no network interfaces are detected
  • Correctly ignoring length of PID_SENTINEL on parameter list
  • Improved traffic on PDP simple mode
  • Reduced CPU and memory usage

Version 1.10.0

This release adds the following features:

  • New built-in :ref:comm-transports-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

It also includes the following bug fixes and improvements:

  • Fixed alignment on parameter lists
  • Fixed error sending more than 256 fragments.
  • Fix handling of STRICT_REALTIME.
  • Fixed submessage_size calculation on last data_frag.
  • Solved an issue when recreating a publishing participant with the same GUID.
  • Solved an issue where a publisher could block on write for a long time when a new subscriber (late joiner) is matched, if the publisher had already sent a large number of messages.
  • Correctly handling the case where lifespan expires at the same time on several samples.
  • Solved some issues regarding liveliness on writers with no readers.
  • Correctly removing changes from histories on keyed topics.
  • Not reusing cache change when sample does not fit.
  • Fixed custom wait_until methods when time is in the past.
  • Several data races and ABBA locks fixed.
  • Reduced CPU and memory usage.
  • Reduced flakiness of liveliness tests.
  • Allow for more use cases on performance tests.

Several bug fixes on discovery server:

  • Fixed local host communications.
  • Correctly trimming server history.
  • Fixed backup server operation.
  • Fixed timing issues.

Version 1.9.4

This release adds the following features:

  • Intra-process delivery mechanism is now active by default.
  • Synchronous writers are now allowed to send fragments.
  • New memory mode DYNAMIC_RESERVE on history pool.
  • Performance tests can now be run on Windows and Mac.
  • XML profiles for requester and replier.

It also includes the following bug fixes and improvements:

  • Bump to FastCDR v1.0.12.
  • Bump to Fast-RTPS-Gen v1.0.3.
  • Fixed deadlock between PDP and StatefulReader.
  • Improved CPU usage and allocations on timed events management.
  • Performance improvements on reliable writers.
  • Fixing bugs when Intra-process delivery is activated.
  • Reducing dynamic allocations and memory footprint.
  • Improvements and fixes on performance tests.
  • Other minor bug fixes and improvements.

Version 1.9.3

This release adds the following features:

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

It also includes the following bug fixes and improvements:

  • Bump to Fast-RTPS-Gen v1.0.2.
  • Bring back compatibility with XTypes 1.1 on PID_TYPE_CONSISTENCY.
  • Ensure correct alignment when reading a parameter list.
  • Add CHECK_DOCUMENTATION cmake option.
  • EntityId_t and GuidPrefix_t have now their own header files.
  • Fix potential race conditions and deadlocks.
  • Improve the case where check_acked_status is called between reader matching process and its acknack reception.
  • RTPSMessageGroup_t instances now use the thread-local storage.
  • FragmentedChangePitStop manager removed.
  • Remove the data fragments vector on CacheChange_t.
  • Only call find_package for TinyXML2 if third-party options are off
  • Allow XMLProfileManager methods to not show error log messages if a profile is not found.

Version 1.9.2

This release includes the following feature:

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

It also adds the following bug fixes and improvements:

  • Bump to Fast-RTPS-Gen v1.0.1.
  • Bump to IDL-Parser v1.0.1.

Version 1.9.1

This release includes the following features:

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

It also adds the following bug fixes and improvements:

  • Bump to FastCDR v1.0.11.
  • Installation from sources documentation fixed.
  • Fixed assertion on WriterProxy.
  • Fixed potential fall through while parsing Parameters.
  • Removed deprecated guards causing compilation errors in some 32 bits platforms.
  • addTOCDRMessage method is now exported in the DLL, fixing issues related with Parameters' constructors.
  • Improve windows performance by avoiding usage of _Cnd_timedwait method.
  • Fixed reported communication issues by sending multicast through localhost too.
  • Fixed potential race conditions and deadlocks.
  • Eliminating use of acceptMsgDirectTo.
  • Discovery Server framework reconnect/recreate strategy.
  • Removed unused folders.
  • Restored subscriber API.
  • SequenceNumber_t improvements.
  • Added STRICT_REALTIME cmake option.
  • SubscriberHistory improvements.
  • Assertion of participant liveliness by receiving RTPS messages from the remote participant.
  • Fixed error while setting next deadline event in create_new_change_with_params.

Version 1.9.0

This release includes the following features:

  • Partial implementation of allocation QoS.
  • Implementation of Discovery Server.
  • Implementation of non-blocking calls.

It also adds the following bug fixes and improvements:

  • Added sliding window to BitmapRange.
  • Modified default behavior for unknown writers.
  • A Flush() method was added to the logger to ensure all info is logged.
  • A test for loading Duration_t from XML was added.
  • Optimized WLP when removing local writers.
  • Some liveliness tests were updated so that they are more stable on Windows.
  • A fix was added to CMakeLists.txt for installing static libraries.
  • A fix was added to performance tests so that they can run on the RT kernel.
  • Fix for race condition on built-in protocols creation.
  • Fix for setting nullptr in a fixed_string.
  • Fix for v1.8.1 not building with -DBUILD_JAVA=ON.
  • Fix for GAP messages not being sent in some cases.
  • Fix for coverity report.
  • Several memory issues fixes.
  • fastrtps.repos file was updated.
  • Documentation for building with Colcon was added.
  • Change CMake configuration directory if INSTALLER_PLATFORM is set.
  • IDL sub-module updated to current version.

Version 1.8.4

This release adds the following feature:

  • XML profiles for requester and replier

It also has the following important bug fixes:

  • Solved an issue when recreating a publishing participant with the same GUID (either on purpose or by chance)
  • Solved an issue where a publisher could block on write for a long time when, after a large number of samples have been sent, a new subscriber is matched.

Version 1.8.3

This release adds the following bug fixes and improvements:

  • Fix serialization of TypeConsistencyEnforcementQosPolicy.
  • Bump to Fast-RTPS-Gen v1.0.2.
  • Bump to IDL-Parser v1.0.1.

Version 1.8.2

This release includes the following features:

  • Modified unknown writers default behavior.
  • Multiple initial PDP announcements.
  • Flag to avoid builtin multicast.
  • STRICT_REALTIME compilation flag.

It also adds the following bug fixes and improvements:

  • Fix for setting nullptr in a fixed string.
  • Fix for not sending GAP in several cases.
  • Solve Coverity report issues.
  • Fix issue of fastrtpsgen failing to open IDL.g4 file.
  • Fix unnamed lock in AESGCMGMAC_KeyFactory.cpp.
  • Improve XMLProfiles example.
  • Multicast is now sent through localhost too.
  • BitmapRange now implements sliding window.
  • Improve SequenceNumber_t struct.
  • Participant's liveliness is now asserted when receiving any RTPS message.
  • Fix leak on RemoteParticipantLeaseDuration.
  • Modified default values to improve behavior in Wi-Fi scenarios.
  • SubscriberHistory improvements.
  • Removed use of acceptMsgDirectTo.
  • WLP improvements.

Version 1.8.1

This release includes the following features:

  • Implementation of :ref:livelinessqospolicy QoS.

It also adds the following bug fixes and improvements:

  • Fix for get_change on history, which was causing issues during discovery.
  • Fix for announcement of participant state, which was sending ParticipantBuiltinData twice.
  • Fix for closing multicast UDP channel.
  • Fix for race conditions in SubscriberHistory, UDPTransportInterface and StatefulReader.
  • Fix for lroundl error on Windows in Time_t.
  • CDR & IDL submodules update.
  • Use of java 1.8 or greater for fastrtpsgen.jar generation.

Version 1.8.0

This release included the following features:

  • Implementation of IDL 4.2.
  • Implementation of :ref:deadlineqospolicy QoS.
  • Implementation of :ref:lifespanqospolicy QoS.
  • Implementation of :ref:disablepositiveacksqospolicy QoS.
  • Secure sockets on TCP transport (:ref:TLS).

It also adds the following improvements and bug fixes:

  • Real-time improvements: non-blocking write calls for best-effort writers, addition of fixed size strings, fixed size bitmaps, resource limited vectors, etc.
  • Duration parameters now use nanoseconds.
  • Configuration of participant mutation tries.
  • Automatic calculation of the port when a value of 0 is received on the endpoint custom locators.
  • Non-local addresses are now filtered from whitelists.
  • Optimization of check for acked status for stateful writers.
  • Linked libs are now not exposed when the target is a shared lib.
  • Limitation on the domain ID has been added.
  • UDP non-blocking send is now optional and configurable via XML.
  • Fix for non-deterministic tests.
  • Fix for ReaderProxy history being reloaded incorrectly in some cases.
  • Fix for RTPS domain hostid being potentially not unique.
  • Fix for participants with different lease expiration times failing to reconnect.

Known issues

  • When using TPC transport, sometimes callbacks are not invoked when removing a participant due to a bug in ASIO.

Version 1.7.2

This release fixes an important bug:

  • Allocation limits on subscribers with a KEEP_LAST QoS was taken from resource limits configuration and didn't take history depth into account.

It also has the following improvements:

  • Vendor FindThreads.cmake from CMake 3.14 release candidate to help with sanitizers.
  • Fixed format of gradle file.

Some other minor bugs and performance improvements.

Version 1.7.1

This release included the following features:

  • LogFileConsumer added to the logging system.
  • Handle FASTRTPS_DEFAULT_PROFILES_FILE environment variable indicating the default profiles XML file.
  • XML parser made more restrictive and with better error messages.

It also fixes some important bugs:

  • Fixed discovery issues related to the selected network interfaces on Windows.
  • Improved discovery times.
  • Workaround ASIO issue with multicast on QNX systems.
  • Improved TCP transport performance.
  • Improved handling of key-only data submessages.

Some other minor bugs and performance improvements.

KNOWN ISSUES

  • Allocation limits on subscribers with a KEEP_LAST QoS is taken from resource limits configuration and doesn't take history depth into account.

Version 1.7.0

This release included the following features:

  • :ref:comm-transports-tcp.
  • :ref:dynamic-types.
  • Security 1.1 compliance.

Also bug fixing, allocation and performance improvements.

Version 1.6.0

This release included the following features:

  • :ref:persistence.
  • Security access control plugin API and builtin :ref:access-permissions plugin.

Also bug fixing.

Version 1.5.0

This release included the following features:

  • Configuration of Fast RTPS entities through XML profiles.
  • Added heartbeat piggyback support.

Also bug fixing.

Version 1.4.0

This release included the following:

  • Added secure communications.
  • Removed all Boost dependencies. Fast RTPS is not using Boost libraries anymore.
  • Added compatibility with Android.
  • Bug fixing.

Version 1.3.1

This release included the following:

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

Version 1.3.0

This release introduced several new features:

  • 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.

Version 1.2.0

This release introduced two important new features:

  • Flow Controllers: A mechanism to control how you use the available bandwidth avoiding data bursts. The controllers allow you to specify the maximum amount of data to be sent in a specific period of time. This is very useful when you are sending large messages requiring fragmentation.
  • Discovery Listeners: Now the user can subscribe to the discovery information to know the entities present in the network (Topics, Publishers & Subscribers) dynamically without prior knowledge of the system. This enables the creation of generic tools to inspect your system.

But there is more:

  • Full ROS2 Support: Fast RTPS is used by ROS2, the upcoming release of the Robot Operating System (ROS).
  • Better documentation: More content and examples.
  • Improved performance.
  • Bug fixing.