github.com/thijsmie/cyclonedds ↗

About thijsmie/cyclonedds

Eclipse Cyclone DDS is a high-performance, open-source implementation of the OMG DDS (Data Distribution Service) specification written in C. It provides a publish-subscribe messaging middleware for distributed systems with zero-configuration discovery, quality-of-service settings, and support for the eventually-consistent shared data space architectural pattern. The project is developed as an Eclipse IoT initiative and serves as a tier-1 middleware option for ROS 2, the Robot Operating System.

The implementation covers most of the DDS specification including the core DCPS protocol, DDS Security for authentication and encryption, the C++ and Python language bindings (in sibling repositories), XTypes for structural type systems, and the DDSI-RTPS interoperable network protocol. The codebase demonstrates strong performance characteristics, achieving over 1 million messages per second for small samples and approximately 90% of gigabit ethernet throughput with 100-byte samples, along with sub-30-microsecond latencies on standard hardware.

Cyclone DDS is used in aerospace and defense applications including air-traffic control and naval systems, and increasingly in robotics and autonomous vehicles where high-throughput, low-latency communication without a central message broker is critical. The project supports building on Linux, macOS, Windows, and various BSD variants, with optional features including TLS/TCP support via OpenSSL, shared memory acceleration through Eclipse Iceoryx, and comprehensive security plugins. Extensive runtime configuration is available through XML files, and the project includes performance measurement tools and example applications.