RTI Connext Gateway

The RTI Connext® Gateway is a software component that allows integrating different types of connectivity protocols with DDS. Integration in this context means that data flows from different protocols are adapted to interface with DDS, establishing communication from and to DDS.

RTI Connext Gateway provides an open framework based on the RTI Routing Service SDK that enables users to easily add communication protocols as needed, in addition to any other protocol implementations that may be included as part of the framework.

Installation

RTI Connext Gateway is distributed in source format. You can clone the source repository using git:

git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-gateway.git

The --recurse-submodule option is required to clone additional third-party repositories as submodules.

If you forget to clone the repository with --recurse-submodule, simply run the following command to pull all the dependencies:

git submodule update --init --recursive

Building

Requirements:

• Connext DDS 6.1.2
• cmake 3.10+

In order to build the RTI Connext Gateway components you have to run the following command:

Linux® and macOS® systems

mkdir build
cd build
cmake .. -DCONNEXTDDS_DIR=/path/to/connextdds/installation/dir \
    -DCMAKE_INSTALL_PREFIX=../install
cmake --build . -- install

By default CMake builds debug artifacts. Debug libraries should be loaded and run with the debug version of Routing Service debug, which is located at:

$NDDSHOME/resource/app/bin/<architecture>/rtiroutingserviceappd

If you want to build them as 'release', you should add the following flag when calling CMake:

-DCMAKE_BUILD_TYPE=Release

Windows® systems

mkdir build
cd build
cmake .. -DCONNEXTDDS_DIR=/path/to/connextdds/installation/dir \
    -DCMAKE_INSTALL_PREFIX=../install \
    -DCMAKE_BUILD_TYPE=Debug|Release \
    -G <generator name>
cmake --build . --config Debug|Release --target install

The generator name comes from CMake, you can see a list of the Visual Studio® generators here: https://cmake.org/cmake/help/latest/manual/cmake-generators.7.html#id13

In case the architecture is 64 bits, we should also add -A x64. For example, the following option will generate a solution for Visual Studio 2015 64 bits:

-G "Visual Studio 14 2015" -A x64

For multi-configuration generator, such as Visual Studio solutions, we need to specify the configuration mode when building it:

--config Debug|Release

Documentation

The documentation can be found online in the following link: https://community.rti.com/static/documentation/gateway/current/index.html

Building Documentation Locally

Requirements:

• doxygen
• sphinx
• graphviz: this might be required to run the dot command.
• docutils 0.14+

NOTE: you may need to install manually sphinx_rtd_theme, breathe and docutils. See below how to install them.

• Installing sphinx_rtd_theme 0.5.1:

  pip install sphinx_rtd_theme

• Installing breathe:

  pip install breathe

• Installing docutils:

  pip install docutils

In order to build the RTI Connext Gateway documentation, you have to add the RTIGATEWAY_ENABLE_DOCS flag when calling CMake:

mkdir build
cd build
cmake .. -DCONNEXTDDS_DIR=/path/to/connextdds/installation/dir \
    -DCMAKE_INSTALL_PREFIX=../install \
    -DRTIGATEWAY_ENABLE_DOCS=ON

The documentation will be generated under the install directory. The following file contains the RTI Connext Gateway documentation:

• <RTI Connext Gateway folder>/install/doc/index.html

Specific documentation for the plugins can be found in the section 1.4. RTI Connext Gateway Plugins.

Further information about how to customize the build can be found in the section 4. Building from source.

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