Delete stale reference to default RMW implementation being CycloneDDS (ros2#2346)

sloretz · clalancette · web-flow · commit e6980712a683 · 2022-03-15T08:41:58.000-07:00
* Delete stale reference to default RMW implementation

Signed-off-by: Shane Loretz &lt;sloretz@osrfoundation.org&gt;

* Switch more places over to Fast DDS.

There were a lot more instances.

Signed-off-by: Chris Lalancette &lt;clalancette@openrobotics.org&gt;

Co-authored-by: Chris Lalancette &lt;clalancette@openrobotics.org&gt;
diff --git a/source/Concepts/About-Different-Middleware-Vendors.rst b/source/Concepts/About-Different-Middleware-Vendors.rst
@@ -33,11 +33,11 @@ Supported RMW implementations
    * - eProsima *Fast DDS*
      - Apache 2
      - ``rmw_fastrtps_cpp``
-     - Full support. Default RMW in Foxy and before. Packaged with binary releases.
+     - Full support. Default RMW. Packaged with binary releases.
    * - Eclipse *Cyclone DDS*
      - Eclipse Public License v2.0
      - ``rmw_cyclonedds_cpp``
-     - Full support. Default RMW since Galactic. Packaged with binary releases.
+     - Full support. Packaged with binary releases.
    * - RTI *Connext DDS*
      - commercial, research
      - ``rmw_connextdds``
@@ -53,10 +53,9 @@ 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 DDS, RTI Connext Pro, Eclipse Cyclone DDS, GurumNetworks GurumDDS).
-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.
+The default is Fast DDS, which works without any additional installation steps because we distribute it with our binary packages.
 
-Other RMWs like Fast DDS, Connext or GurumDDS can be enabled by :doc:`installing additional packages <../Installation/DDS-Implementations>`, but without having to rebuild anything or replace any existing packages.
+Other RMWs like Cyclone DDS, Connext or GurumDDS can be enabled by :doc:`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.
@@ -73,10 +72,10 @@ Here is a list of inter-vendor communication configurations that are not support
 Default RMW implementation
 --------------------------
 
-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.
+If a ROS 2 workspace has multiple RMW implementations, Fast DDS is selected as the default RMW implementation if it is available.
+If the Fast 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_connextdds`` ROS packages are installed, ``rmw_connextdds`` would be the default.
-If ``rmw_cyclonedds_cpp`` is ever installed, it would be the default.
+For example, if both ``rmw_cyclonedds_cpp`` and ``rmw_connextdds`` ROS packages are installed, ``rmw_connextdds`` would be the default.
+If ``rmw_fastrtps_cpp`` is ever installed, it would be the default.
 
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` for how to specify which RMW implementation is to be used when running the ROS 2 examples.
diff --git a/source/How-To-Guides/Working-with-multiple-RMW-implementations.rst b/source/How-To-Guides/Working-with-multiple-RMW-implementations.rst
@@ -65,7 +65,7 @@ For example, to run the talker demo using the C++ talker and Python listener wit
 Adding RMW implementations to your workspace
 --------------------------------------------
 
-Suppose that you have built your ROS 2 workspace with only Cyclone DDS installed and therefore only the Cyclone DDS RMW implementation built.
+Suppose that you have built your ROS 2 workspace with only Fast DDS installed and therefore only the Fast DDS RMW implementation built.
 The last time your workspace was built, any other RMW implementation packages, ``rmw_connextdds`` 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.
@@ -106,11 +106,11 @@ and
 
    ros2 node list
 
-it will generate a daemon with a Cyclone DDS implementation:
+it will generate a daemon with a Fast DDS implementation:
 
 .. code-block:: bash
 
-   21318 22.0  0.6 535896 55044 pts/8    Sl   16:14   0:00 /usr/bin/python3 /opt/ros/{DISTRO}/bin/_ros2_daemon --rmw-implementation rmw_cyclonedds_cpp --ros-domain-id 22
+   21318 22.0  0.6 535896 55044 pts/8    Sl   16:14   0:00 /usr/bin/python3 /opt/ros/{DISTRO}/bin/_ros2_daemon --rmw-implementation rmw_fastrtps_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.
 
diff --git a/source/Installation/RHEL-Development-Setup.rst b/source/Installation/RHEL-Development-Setup.rst
@@ -98,7 +98,7 @@ Install dependencies using rosdep
 Install additional DDS implementations (optional)
 -------------------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Build the code in the workspace
 -------------------------------
@@ -160,7 +160,7 @@ Continue with the :doc:`tutorials and demos <../Tutorials>` to configure your en
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Alternate compilers
diff --git a/source/Installation/RHEL-Install-Binary.rst b/source/Installation/RHEL-Install-Binary.rst
@@ -83,7 +83,7 @@ Set your rosdistro according to the release you downloaded.
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Environment setup
 -----------------
@@ -124,7 +124,7 @@ Continue with the :doc:`tutorials and demos <../Tutorials>` to configure your en
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting
diff --git a/source/Installation/RHEL-Install-RPMs.rst b/source/Installation/RHEL-Install-RPMs.rst
@@ -110,7 +110,7 @@ Continue with the :doc:`tutorials and demos <../Tutorials>` to configure your en
 
 Additional RMW implementations (optional)
 -----------------------------------------
-The default middleware that ROS 2 uses is ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting
diff --git a/source/Installation/Ubuntu-Development-Setup.rst b/source/Installation/Ubuntu-Development-Setup.rst
@@ -108,7 +108,7 @@ Install dependencies using rosdep
 Install additional DDS implementations (optional)
 -------------------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Build the code in the workspace
 -------------------------------
@@ -174,7 +174,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Alternate compilers
diff --git a/source/Installation/Ubuntu-Install-Binary.rst b/source/Installation/Ubuntu-Install-Binary.rst
@@ -87,7 +87,7 @@ Installing the python3 libraries
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Environment setup
 -----------------
@@ -132,7 +132,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting
diff --git a/source/Installation/Ubuntu-Install-Debians.rst b/source/Installation/Ubuntu-Install-Debians.rst
@@ -105,7 +105,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting
diff --git a/source/Installation/Windows-Development-Setup.rst b/source/Installation/Windows-Development-Setup.rst
@@ -91,7 +91,7 @@ Next you can use ``vcs`` to import the repositories listed in the ``ros2.repos``
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Build the ROS 2 code
 --------------------
@@ -186,7 +186,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 
diff --git a/source/Installation/Windows-Install-Binary.rst b/source/Installation/Windows-Install-Binary.rst
@@ -82,7 +82,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Troubleshooting
diff --git a/source/Installation/_Windows-Install-Prerequisites.rst b/source/Installation/_Windows-Install-Prerequisites.rst
@@ -70,7 +70,7 @@ Make sure that no C++ CMake tools are installed by unselecting them in the list
 Install additional DDS implementations (optional)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, Fast DDS, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Install OpenCV
 ^^^^^^^^^^^^^^
diff --git a/source/Installation/macOS-Development-Setup.rst b/source/Installation/macOS-Development-Setup.rst
@@ -152,7 +152,7 @@ Create a workspace and clone all repos:
 Install additional DDS vendors (optional)
 -----------------------------------------
 
-If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions :doc:`here <DDS-Implementations>`.
+If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <DDS-Implementations>`.
 
 Build the ROS 2 code
 --------------------
@@ -207,7 +207,7 @@ 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 ``Cyclone DDS``, but the middleware (RMW) can be replaced at runtime.
+The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at runtime.
 See the :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.
 
 Stay up to date
diff --git a/source/Tutorials/Security/Introducing-ros2-security.rst b/source/Tutorials/Security/Introducing-ros2-security.rst
@@ -64,7 +64,7 @@ Before installing from source, you will need to have a recent version openssl (1
 
     If you don't have OpenSSL installed, please follow :ref:`these instructions <windows-install-binary-installing-prerequisites>`
 
-Fast-DDS requires an additional CMake flag to build the security plugins, so the colcon invocation needs to be modified to pass:
+Fast DDS requires an additional CMake flag to build the security plugins, so the colcon invocation needs to be modified to pass:
 
 .. code-block:: bash
 
