D555 Alternative DDS Compatibility

[BOOTCFG]

Hi, we would like to use Realsense D555 with CycloneDDS.

During our testing we managed to run the realsense-ros driver with CycloneDDS set as the RMW.:

ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below ........
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: 🚀 Launching as Normal ROS Node
[INFO] [realsense2_camera_node-1]: process started with pid [67634]
[realsense2_camera_node-1] [INFO] [1761662776.395354633] [camera.camera]: RealSense ROS v4.57.3
[realsense2_camera_node-1] [INFO] [1761662776.395403732] [camera.camera]: Built with LibRealSense v2.57.3
[realsense2_camera_node-1] [INFO] [1761662776.395419027] [camera.camera]: Running with LibRealSense v2.57.3

We are using ROS 2 Jazzy on Ubuntu 24.04.3 LTS Noble.

Topics published by the driver seemed to work correctly, but the topics published directly by the D555 caused warnings across our system.

[realsense2_camera_node-1] [WARN] [1761662776.500574555] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/device-info' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662776.510944732] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/control' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662776.511804135] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/notification' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662776.772890372] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/metadata' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] 1761662777.499618 [0]       recv: malformed packet received from vendor 1.48 length 80 state parse:shortmsg <52545053 02050130 4f981501 c4151bee 00000046 06013800 c7030000 c2030000 @80 > (note: maybe partially bswap'd)
[realsense2_camera_node-1] 1761662777.499656 [0]       recv: malformed packet received from vendor 1.48 length 80 state parse:shortmsg <52545053 02050130 4f981501 c4151bee 00000046 06013800 c7040000 c2040000 @80 > (note: maybe partially bswap'd)
[realsense2_camera_node-1] 1761662777.499669 [0]       recv: malformed packet received from vendor 1.48 length 80 state parse:shortmsg <52545053 02050130 4f981501 c4151bee 00000046 06013800 c7000200 c2000200 @80 > (note: maybe partially bswap'd)
[realsense2_camera_node-1] [WARN] [1761662777.499907247] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/device-info' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500004048] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/notification' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500030728] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/control' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500174462] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'realsense/D555_419222300968/metadata' with type 'realdds::topics::raw::flexible' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500298501] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/realsense/D555_419222300968_Color' with type 'sensor_msgs::msg::dds_::Image_' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500439162] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/realsense/D555_419222300968_Depth' with type 'sensor_msgs::msg::dds_::Image_' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500550839] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/realsense/D555_419222300968_Infrared_1' with type 'sensor_msgs::msg::dds_::Image_' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500656789] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/realsense/D555_419222300968_Infrared_2' with type 'sensor_msgs::msg::dds_::Image_' from USER_DATA '(null)'.
[realsense2_camera_node-1] [WARN] [1761662777.500768746] [rmw_cyclonedds_cpp]: Failed to parse type hash for topic 'rt/realsense/D555_419222300968_Motion' with type 'sensor_msgs::msg::dds_::Imu_' from USER_DATA '(null)'.

How could we get the D555 working with CycloneDDS?
Is there a recommended way of separating/disabling the topics published by the camera?
Would it be possible to switch the camera to a different DDS, while still operating over ethernet?

Best regards, Stefan

[MartyG-RealSense]

Hi @BOOTCFG D555 uses SafeDDS by default for its ROS2 integration in PoE ethernet mode.

"D555 is powered by SafeDDS, an ISO 26262-certified Data Distribution Service (DDS) implementation designed specifically for safety-critical and embedded applications. SafeDDS is interoperable with Fast DDS, the middleware powering ROS 2. This makes D555 plug-and-play with ROS 2 using its ethernet interface, streaming seamlessly to ROS 2 nodes on the network without requiring any additional installation."

Have you tested D555 with the default SafeDDS before testing with CycloneDDS, please?

Also, have you built the librealsense SDK from source code with CMake and included the flag -DBUILD_WITH_DDS=ON in the CMake build instruction as advised by my colleague at #14284 (comment)

You can disable the depth and color topics in the ROS2 launch instruction (the infrared and IMU topics are already disabled by default). For example:

ros2 launch realsense2_camera rs_launch.py enable_depth:=false enable_color:=false

To disable topics published by the RealSense ROS2 wrapper that do not have a stream enable / disable parameter, you would have to unsubscribe from the topic once launch is completed.

I will discuss your question about using an alternative DDS with my RealSense colleagues.

[BOOTCFG]

Hi, MartyG, thanks for the reply.
I would like to clarify some things:

• We have tested the D555 with FastDDS and it was working fine, but our setup requires CycloneDDS, hence this issue.
• We would like to keep the topics published by the ROS2 wrapper and disable/"hide" the topics provided by the camera itself.

[MartyG-RealSense]

You are very welcome. I will update you as soon as I have a response from my colleagues about the alternative DDS query.

In regard to non-wrapper topics provided by the camera itself on a DDS connection, do you mean the ones listed in the image below, please?

Whilst it is possible to unsubscribe from topics, it is a complicated process, as the discussion at the link below demonstrates.

https://robotics.stackexchange.com/questions/96187/how-to-unsubscribe-from-a-topic