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Minor RTI Connext DDS documentation improvements #5606

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Minor RTI Connext DDS documentation improvements #5606

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4b5a718
add script to find connext installations and add instruction to insta…
jncfa May 11, 2025
aa24d08
implemented suggestions from review, added note regarding different s…
jncfa May 27, 2025
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22 changes: 20 additions & 2 deletions ...lation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst
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Expand Up @@ -78,12 +78,30 @@ Clone the repository for ``rmw_connextdds`` into your ROS 2 workspace and select
$ cd ros2_ws
$ git clone -b {DISTRO} https://github.com/ros2/rmw_connextdds src/rmw_connextdds

Then, install necessary packages for RTI Connext DDS.

.. code-block:: console

$ cd ..
$ rosdep install --from src -i

Set up the environment to help colcon discover where RTI Connext is installed.
This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation:
This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation. For example, for version 7.3.0, you can run the following code to execute the helper script:

.. code-block:: console

$ source /opt/rti.com/rti_connext_dds-7.3.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash

If the previous command failed, and you can't find the location of the RTI Connext installation, run this to find all Connext installations (and their corresponding helper scripts) in your system:

.. code-block:: console

$ source ${RTI_CONNEXT_INSTALL_LOCATION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash
$ find /opt -name rtisetenv*.bash

.. note::

Replace ``.bash`` with your shell if you're not using bash.
Possible values are: ``rtisetenv*.bash``, ``rtisetenv*.sh``, ``rtisetenv*.zsh``, ``rtisetenv*.tcsh``.

Make sure you have the ROS 2 environment set up:

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