5-Minuten-Quickstart

libzerodds.so bauen, ein C++-File, ein g++-Call.

1 · libzerodds installieren

Hol dir die C-Runtime (libzerodds.{so,dylib,dll} + zerodds.h) auf dem Weg der für dich am wenigsten Reibung macht — entweder pre-built, via Paketmanager, oder aus Source.

Pre-built Pakete (1.0.0-rc.7)

Direkt-Download von GitHub Releases v1.0.0-rc.7:

# Ubuntu/Debian (amd64; arm64: _arm64.deb). zerodds-dev braucht zerodds-core und zerodds-cli
wget https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-core_1.0.0-rc.7_amd64.deb \
     https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-cli_1.0.0-rc.7_amd64.deb \
     https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-dev_1.0.0-rc.7_amd64.deb
sudo apt install ./zerodds-core_1.0.0-rc.7_amd64.deb ./zerodds-cli_1.0.0-rc.7_amd64.deb ./zerodds-dev_1.0.0-rc.7_amd64.deb

# Fedora/RHEL: die RPMs von rc.7 lassen sich nicht installieren (zerodds-core verlangt libzerodds.so()(64bit), das kein Paket bereitstellt); aus der Quelle bauen, siehe User Guide

# macOS, Windows: das .pkg und das MSI enthalten nur die Programme, keine Header und kein libzerodds; aus dem Source bauen (unten)

# Portable Tarballs (*.tar.xz) je Komponente und Target: siehe Release-Seite

Paketmanager

# Arch Linux — AUR
yay -S zerodds-bin    # Binary-Variante (schneller)
yay -S zerodds        # Source-Build über makepkg

# Docker (Kommandozeilenprogramme; die Bridges sind eigene Images)
docker pull fishermen21/zerodds-cli:v1.0.0-rc.7

Paketquellen: APT-Repo packages.zerodds.org/deb (apt install zerodds-dev, siehe User Guide) und Scoop-Bucket zero-objects/scoop-zerodds. Chocolatey gibt es nicht.

Aus Source (Entwicklung)

git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds
cargo build --release -p zerodds-c-api
# erzeugt target/release/libzerodds.{so,dylib,dll} + crates/zerodds-c-api/include/zerodds.h

2 · Pub/Sub-Roundtrip (hello.cpp)

#include "zerodds/dds.hpp"
#include <chrono>
#include <iostream>
#include <thread>

int main() {
    using namespace std::chrono_literals;

    zerodds::Runtime rt(0);
    zerodds::Writer w(rt, "Chatter", "RawBytes", /*reliable=*/true);
    zerodds::Reader r(rt, "Chatter", "RawBytes", /*reliable=*/true);

    w.wait_for_matched(1, 5000);
    r.wait_for_matched(1, 5000);

    std::vector<uint8_t> payload{'h','e','l','l','o'};
    w.write(payload);

    std::this_thread::sleep_for(200ms);
    auto sample = r.take();
    std::cout << "got: " << std::string(sample.begin(), sample.end()) << "\n";
    return 0;
}

▶ Runnable example: cpp-hello

3 · Bauen + laufen

g++ -std=c++17 -O2 -Wall \
    -I crates/zerodds-c-api/include \
    -I crates/cpp/include \
    -L target/release \
    -o hello hello.cpp \
    -lzerodds -lpthread -ldl -lm
LD_LIBRARY_PATH=target/release ./hello
# got: hello

Installation

Linking-Variante: dynamisch

Default. libzerodds.so wird zur Laufzeit geladen; ABI-stabil über patch-Versionen.

g++ ... -L target/release -lzerodds -lpthread -ldl -lm

Linking-Variante: statisch

Cargo erzeugt auch libzerodds.a (staticlib). Für single-binary-Deployment:

g++ ... target/release/libzerodds.a -lpthread -ldl -lm

Achtung: Linux braucht -Wl,--gc-sections und -Wl,--as-needed für minimale Binary-Größe.

System-Pakete (DEB/RPM)

Pre-built Pakete unter github.com/zero-objects/zero-dds/releases. Installation:

# Ubuntu/Debian
sudo apt install ./zerodds-core_1.0.0-rc.7_amd64.deb ./zerodds-cli_1.0.0-rc.7_amd64.deb ./zerodds-dev_1.0.0-rc.7_amd64.deb

# Fedora/RHEL: die RPMs von rc.7 lassen sich nicht installieren (zerodds-core verlangt libzerodds.so()(64bit), das kein Paket bereitstellt); aus der Quelle bauen, siehe User Guide

# Header + libs landen in /usr/include/zerodds + /usr/lib/

Typisierte Topics — zerodds-idlc generate --lang c++

Statt RawBytes kannst du IDL-definierte Strukturen direkt publizieren. zerodds-idlc generate --lang c++ schreibt einen Header mit dem Typ, seinem XCDR2-Codec und der Spezialisierung dds::topic::topic_type_support<T>, die zerodds/dds.hpp für jeden Topic-Typ verlangt. Der Codec ruft die C++-Wire-Runtime (runtime/cpp); den Build zeigt das Beispiel cpp-typed.

IDL definieren (temperature.idl)

module sensor_msgs {
    module msg {
        struct Temperature {
            long celsius;
            string sensor_id;
        };
    };
};

Codegen

zerodds-idlc generate --lang c++ --out gen/ temperature.idl
# schreibt gen/temperature.hpp

Nutzen

#include "gen/temperature.hpp"
#include "zerodds/dds.hpp"

int main() {
    zerodds::Runtime rt(0);
    zerodds::TypedWriter<sensor_msgs::msg::Temperature> w(rt, "Temp");

    sensor_msgs::msg::Temperature t{23, "A7"};
    w.write(t);
}

▶ Runnable example: cpp-typed

Vendor-Spec: DDS-PSM-Cxx 1.0 Spec-Coverage →

Tests & CI

cd crates/cpp/examples
./build_cpp_smoke.sh
# verifiziert: zerodds.h + zerodds/dds.hpp + Pub/Sub-Roundtrip

Im Repo: crates/cpp/tests/

5-minute quickstart

Build libzerodds.so, one C++ file, one g++ call.

1 · Install libzerodds

Get the C runtime (libzerodds.{so,dylib,dll} + zerodds.h) the way that's the least friction for you — either pre-built, via a package manager, or from source.

Pre-built packages (1.0.0-rc.7)

Direct download from GitHub Releases v1.0.0-rc.7:

# Ubuntu/Debian (amd64; arm64: _arm64.deb). zerodds-dev needs zerodds-core and zerodds-cli
wget https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-core_1.0.0-rc.7_amd64.deb \
     https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-cli_1.0.0-rc.7_amd64.deb \
     https://github.com/zero-objects/zero-dds/releases/download/v1.0.0-rc.7/zerodds-dev_1.0.0-rc.7_amd64.deb
sudo apt install ./zerodds-core_1.0.0-rc.7_amd64.deb ./zerodds-cli_1.0.0-rc.7_amd64.deb ./zerodds-dev_1.0.0-rc.7_amd64.deb

# Fedora/RHEL: the rc.7 RPMs cannot be installed (zerodds-core requires libzerodds.so()(64bit), which no package provides); build from source, see the User Guide

# macOS, Windows: the .pkg and the MSI carry only the programs, no headers and no libzerodds; build from source (below)

# Portable tarballs (*.tar.xz) per component and target: see the release page

Package managers

# Arch Linux — AUR
yay -S zerodds-bin    # binary variant (faster)
yay -S zerodds        # source build via makepkg

# Docker (command-line programs; the bridges are separate images)
docker pull fishermen21/zerodds-cli:v1.0.0-rc.7

Package sources: the APT repository packages.zerodds.org/deb (apt install zerodds-dev, see the user guide) and the Scoop bucket zero-objects/scoop-zerodds. There is no Chocolatey package.

From source (development)

git clone https://github.com/zero-objects/zero-dds.git
cd zero-dds
cargo build --release -p zerodds-c-api
# produces target/release/libzerodds.{so,dylib,dll} + crates/zerodds-c-api/include/zerodds.h

2 · Pub/sub roundtrip (hello.cpp)

#include "zerodds/dds.hpp"
#include <chrono>
#include <iostream>
#include <thread>

int main() {
    using namespace std::chrono_literals;

    zerodds::Runtime rt(0);
    zerodds::Writer w(rt, "Chatter", "RawBytes", /*reliable=*/true);
    zerodds::Reader r(rt, "Chatter", "RawBytes", /*reliable=*/true);

    w.wait_for_matched(1, 5000);
    r.wait_for_matched(1, 5000);

    std::vector<uint8_t> payload{'h','e','l','l','o'};
    w.write(payload);

    std::this_thread::sleep_for(200ms);
    auto sample = r.take();
    std::cout << "got: " << std::string(sample.begin(), sample.end()) << "\n";
    return 0;
}

▶ Runnable example: cpp-hello

3 · Build + run

g++ -std=c++17 -O2 -Wall \
    -I crates/zerodds-c-api/include \
    -I crates/cpp/include \
    -L target/release \
    -o hello hello.cpp \
    -lzerodds -lpthread -ldl -lm
LD_LIBRARY_PATH=target/release ./hello
# got: hello

Installation

Linking variant: dynamic

The default. libzerodds.so is loaded at runtime; ABI-stable across patch versions.

g++ ... -L target/release -lzerodds -lpthread -ldl -lm

Linking variant: static

Cargo also produces libzerodds.a (staticlib). For single-binary deployment:

g++ ... target/release/libzerodds.a -lpthread -ldl -lm

Note: Linux needs -Wl,--gc-sections and -Wl,--as-needed for a minimal binary size.

System packages (DEB/RPM)

Pre-built packages at github.com/zero-objects/zero-dds/releases. Installation:

# Ubuntu/Debian
sudo apt install ./zerodds-core_1.0.0-rc.7_amd64.deb ./zerodds-cli_1.0.0-rc.7_amd64.deb ./zerodds-dev_1.0.0-rc.7_amd64.deb

# Fedora/RHEL: the rc.7 RPMs cannot be installed (zerodds-core requires libzerodds.so()(64bit), which no package provides); build from source, see the User Guide

# headers + libs land in /usr/include/zerodds + /usr/lib/

Typed topics — zerodds-idlc generate --lang c++

Instead of RawBytes you can publish IDL-defined structs directly. zerodds-idlc generate --lang c++ writes one header with the type, its XCDR2 codec and the dds::topic::topic_type_support<T> specialisation that zerodds/dds.hpp asks every topic type for. The codec calls the C++ wire runtime (runtime/cpp); the cpp-typed example shows the build.

Define the IDL (temperature.idl)

module sensor_msgs {
    module msg {
        struct Temperature {
            long celsius;
            string sensor_id;
        };
    };
};

Codegen

zerodds-idlc generate --lang c++ --out gen/ temperature.idl
# writes gen/temperature.hpp

Use it

#include "gen/temperature.hpp"
#include "zerodds/dds.hpp"

int main() {
    zerodds::Runtime rt(0);
    zerodds::TypedWriter<sensor_msgs::msg::Temperature> w(rt, "Temp");

    sensor_msgs::msg::Temperature t{23, "A7"};
    w.write(t);
}

▶ Runnable example: cpp-typed

Vendor spec: DDS-PSM-Cxx 1.0 spec coverage →

Tests & CI

cd crates/cpp/examples
./build_cpp_smoke.sh
# verifies: zerodds.h + zerodds/dds.hpp + pub/sub roundtrip

In the repo: crates/cpp/tests/