[quote="Fierozen, post:1, topic:3933"]
Does ROS use Open DDS (Real time publish subscribe (RTPS)) for communication? I have heard that it does. However, Open DDS does not yet support the Secure portion of the specification.
[/quote]
Can you please clarify if you are referring specifically to [Open DDS](
http://opendds.org/) project which provides one implementation of the DDS specification or to DDS as a standard in general?
ROS 2 has an abstraction layer for the communication - the [ROS middleware interface](
http://design.ros2.org/articles/ros_middleware_interface.html) (RMW). For that interface multiple implementations exist:
* Officially supported in the latest release ([Ardent Apalone](
https://github.com/ros2/ros2/wiki/Release-Ardent-Apalone)):
* FastRTPS from eProsima
* Connext from RTI
* both of them support (at least parts of) the DDS Security specification
* OpenSplice from ADLINK
* Other RMW implementations contributed by the community (which I am aware of):
* CoreDX from TwinOaks
* OPC UA
I am not aware of any RMW implementation based on "Open DDS".
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