Hi @BrannonKing, You can change the default rmw implementation by defining the `RMW_IMPLEMENTATION` environment variable before compiling (you will need to make sure to recompile the `rmw_implementation` package for the change to take effect). You can also change the default rmw implementation used by modifying [this file](https://github.com/ros2/rmw/blob/master/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake#L38). Setting this variable before compiling only changes which rmw_implementation library will be opened by default. It still compiles all rmw implementation allowing you to select another one at runtime by setting `RMW_IMPLEMENTATION` if you want to. --- [Visit Topic](https://discourse.ros.org/t/change-the-default-dds-implementation/2813/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: