ros2 · clalancette · Jan 12, 2021 · Jan 11, 2021 · Jan 11, 2021 · Jan 11, 2021
diff --git a/source/Concepts/DDS-and-ROS-middleware-implementations.rst b/source/Concepts/DDS-and-ROS-middleware-implementations.rst
@@ -34,11 +34,11 @@ Supported RMW implementations
    * - eProsima *Fast RTPS*
      - Apache 2
      - ``rmw_fastrtps_cpp``
-     - Full support. Default RMW. Packaged with binary releases.
+     - Full support. Default RMW in Foxy and before. Packaged with binary releases.
    * - Eclipse *Cyclone DDS*
      - Eclipse Public License v2.0
      - ``rmw_cyclonedds_cpp``
-     - Full support. Packaged with binary releases from Eloquent on.
+     - Full support. Default RMW since Galactic. Packaged with binary releases.
    * - RTI *Connext*
      - commercial, research
      - ``rmw_connext_cpp``

diff --git a/source/Installation/Rolling/Linux-Development-Setup.rst b/source/Installation/Rolling/Linux-Development-Setup.rst
@@ -181,7 +181,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Alternate compilers

diff --git a/source/Installation/Rolling/Linux-Install-Binary.rst b/source/Installation/Rolling/Linux-Install-Binary.rst
@@ -125,7 +125,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting

diff --git a/source/Installation/Rolling/Linux-Install-Debians.rst b/source/Installation/Rolling/Linux-Install-Debians.rst
@@ -110,7 +110,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting

diff --git a/source/Installation/Rolling/Windows-Development-Setup.rst b/source/Installation/Rolling/Windows-Development-Setup.rst
@@ -272,7 +272,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 

diff --git a/source/Installation/Rolling/Windows-Install-Binary.rst b/source/Installation/Rolling/Windows-Install-Binary.rst
@@ -228,7 +228,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting

diff --git a/source/Installation/Rolling/macOS-Development-Setup.rst b/source/Installation/Rolling/macOS-Development-Setup.rst
@@ -199,7 +199,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Stay up to date

diff --git a/source/Installation/Rolling/macOS-Install-Binary.rst b/source/Installation/Rolling/macOS-Install-Binary.rst
@@ -187,7 +187,7 @@ The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Fast-RTPS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
 See the `tutorial </Tutorials/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting

diff --git a/source/Releases/Release-Galactic-Geochelone.rst b/source/Releases/Release-Galactic-Geochelone.rst
@@ -54,6 +54,14 @@ Related PRs: `ros2/rcl_logging#53 <https://github.com/ros2/rcl_logging/pull/53>`
 Changes since the Foxy release
 ------------------------------
 
+Default RMW vendor changed to Cyclone DDS
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+During the Galactic development process, the ROS 2 Technical Steering Committee `voted <https://discourse.ros.org/t/ros-2-galactic-default-middleware-announced/18064>`__ to change the default ROS middleware (RMW) to Cyclone DDS.
+Without any configuration changes, users will get Cyclone DDS by default.
+Fast-DDS and Connext are still Tier-1 supported RMW vendors, and users can opt-in to use one of these RMWs at their discretion by using the ``RMW_IMPLEMENTATION`` environment variable.
+See the `Working with multiple RMW implementations tutorial <../Tutorials/Working-with-multiple-RMW-implementations>` for more information.
+
 nav2
 ^^^^
 

diff --git a/source/Tutorials/Working-with-multiple-RMW-implementations.rst b/source/Tutorials/Working-with-multiple-RMW-implementations.rst
@@ -19,11 +19,11 @@ You should have already read the `DDS and ROS middleware implementations page <.
 Multiple RMW implementations
 ----------------------------
 
-The ROS 2 binary releases for currently active distros have built-in support for several RMW implementations out of the box (Fast RTPS, RTI Connext Pro, ADLINK OpenSplice and Eclipse Cyclone DDS).
-The default is Fast RTPS, which works without any additional installation steps, because we distribute it with our binary packages.
-Cyclone DDS is also distributed with binary packages since Eloquent.
+The ROS 2 binary releases for currently active distros have built-in support for several RMW implementations out of the box (Fast DDS, RTI Connext Pro, ADLINK Eclipse Cyclone DDS).
+Since Galactic, the default is Cyclone DDS, which works without any additional installation steps, because we distribute it with our binary packages.
+Prior to Galactic, the default was Fast DDS, which works without any additional installation steps.
 
-Others like OpenSplice or Connext can be enabled by `installing additional packages <../Installation/DDS-Implementations>`, but without having to rebuild anything or replace any existing packages.
+Other RMWs like Fast-DDS or Connext can be enabled by `installing additional packages <../Installation/DDS-Implementations>`, but without having to rebuild anything or replace any existing packages.
 
 A ROS 2 workspace that has been built from source may build and install multiple RMW implementations simultaneously.
 While the core ROS 2 code is being compiled, any RMW implementation that is found will be built if the relevant DDS/RTPS implementation has been installed properly and the relevant environment variables have been configured.
@@ -38,19 +38,19 @@ Here is a list of inter-vendor communication configurations that are not support
 - OpenSplice <-> OpenSplice
    - does not support ``WString``
    - ``WString`` is mapped to ``String`` which has a different wire representation
-- Connext <-> CycloneDDS
+- Connext <-> Cyclone DDS
    - does not support pub/sub communication for ``WString``
 - Connext Dynamic <-> Connext Dynamic
    - does not support C services
 
 Default RMW implementation
 --------------------------
 
-If a ROS 2 workspace has multiple RMW implementations, the default RMW implementation is currently selected as Fast RTPS if it's available.
-If the Fast RTPS RMW implementation is not installed, the RMW implementation with the first RMW implementation identifier in alphabetical order will be used.
-The implementation identifier is the name of the ROS package that provides the RMW implementation, e.g. ``rmw_fastrtps_cpp``.
-For example, if both ``rmw_opensplice_cpp`` and ``rmw_connext_cpp`` ROS packages are installed, ``rmw_connext_cpp`` would be the default.
-If ``rmw_fastrtps_cpp`` is ever installed, it would be the default.
+If a ROS 2 workspace has multiple RMW implementations, the default RMW implementation since Galactic is selected as Cyclone DDS if it's available.
+If the Cyclone DDS RMW implementation is not installed, the RMW implementation with the first RMW implementation identifier in alphabetical order will be used.
+The implementation identifier is the name of the ROS package that provides the RMW implementation, e.g. ``rmw_cyclonedds_cpp``.
+For example, if both ``rmw_fastrtps_cpp`` and ``rmw_connext_cpp`` ROS packages are installed, ``rmw_connext_cpp`` would be the default.
+If ``rmw_cyclonedds_cpp`` is ever installed, it would be the default.
 See below for how to specify which RMW implementation is to be used when running the ROS 2 examples.
 
 Specifying RMW implementations
@@ -99,7 +99,7 @@ To run the talker demo using the C++ and listener using Python with the RMW impl
 Adding RMW implementations to your workspace
 --------------------------------------------
 
-Suppose that you have built your ROS 2 workspace with only Fast RTPS installed and therefore only the Fast RTPS RMW implementation built.
+Suppose that you have built your ROS 2 workspace with only Cyclone DDS installed and therefore only the Cyclone DDS RMW implementation built.
 The last time your workspace was built, any other RMW implementation packages, ``rmw_connext_cpp`` for example, were probably unable to find installations of the relevant DDS implementations.
 If you then install an additional DDS implementation, Connext for example, you will need to re-trigger the check for a Connext installation that occurs when the Connext RMW implementation is being built.
 You can do this by specifying the ``--cmake-force-configure`` flag on your next workspace build, and you should see that the RMW implementation package then gets built for the newly installed DDS implementation.
@@ -140,11 +140,11 @@ and
 
    ros2 node list
 
-it will generate a daemon with a Fast RTPS implementation:
+it will generate a daemon with a Cyclone DDS implementation:
 
 .. code-block:: bash
 
-   21318 22.0  0.6 535896 55044 pts/8    Sl   16:14   0:00 /usr/bin/python3 /opt/ros/foxy/bin/_ros2_daemon --rmw-implementation rmw_fastrtps_cpp --ros-domain-id 22
+   21318 22.0  0.6 535896 55044 pts/8    Sl   16:14   0:00 /usr/bin/python3 /opt/ros/foxy/bin/_ros2_daemon --rmw-implementation rmw_cyclonedds_cpp --ros-domain-id 22
 
 Even if you run the command line tool again with the correct RMW implementation, the daemon's RMW implementation will not change and the ROS 2 command line tools will fail.