Change RMW in Matlab R2021b

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준기 홍 2024-7-15
编辑： Jagadeesh Konakalla 2024-7-17
Currently i'm using Matlab R2021b + Ubuntu22.04 Humble due to version compatibility with external program.
I have seen the guide to change the default RMW by Preferences -> ROS Toolbox. But my Matlab version seems like
there is no ROS Toolbox at Preferences. So I tried to change the RMW by command line
setenv('RMW_IMPLEMENTATION','rmw_cyclonedds_cpp')
Is there any method to check the RMW vendor?
Or is there another way to change it?

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回答（1 个）

Jagadeesh Konakalla
编辑：Jagadeesh Konakalla 2024-7-17
In R2021b, MATLAB uses Fast DDS only.
In 22a (Foxy support), we honour the environement variable that you are setting. And you can only switch between Fast DDS and Cyclone DDS.
From 22b, we added a new feature to easily switch between different DDS using preferences. This feature allows you to switch to other RMW implementations too.
I recommend you to upgrade to R2023b release where we support Humble and also switching RMW feature available.
Are you installaing MATLAB on Ubuntu 22.04 ? If so, would be good to upgrade to R2023b. Please provide more information in your setup and usage of different DDS.
Thanks,
Jagadeesh K.

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