Unitree G1
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Applications
- Research
- Home Assistance
Eclipse Cyclone DDS is a high-performance implementation of the Data Distribution Service (DDS) standard, originally developed by ADLINK (since 2017) and contributed to the Eclipse Foundation in 2019. Cyclone DDS is one of the two primary RMW (ROS Middleware) implementations used by ROS 2, alongside Fast DDS by eProsima.
The Cyclone DDS architecture focuses on low resource usage (single thread, ~2 MB RAM minimum), determinism, and full compliance with OMG DDS Specification 1.4. It implements the full QoS profile, RTPS 2.5 transport over UDP/TCP, dynamic and static discovery, and DDS Security (DDS-XRCE handled separately by Zenoh-Pico).
Cyclone DDS is the default RMW in ROS 2 Galactic and still supported in Humble (RMW_IMPLEMENTATION=rmw_cyclonedds_cpp). It is used by Apex.OS, the Autoware project (autonomous driving), AWS RoboMaker, and many internal defense systems. SRPC, REST API, and a Zenoh bridge are also supported.
Middleware is a software layer that mediates between applications, services, sensors, drivers, and execution layers. In robotics, middleware is typically responsible for inter-process communication, message passing, hardware abstraction, and module integration within a single system. The most widely used robotics middleware is ROS (Robot Operating System), which provides a publish-subscribe message bus, service calls, and a rich ecosystem of packages.
A Transport Layer is the software layer responsible for data transmission between elements of a robotic or software system — such as processes, nodes, devices, and services. It handles serialisation, routing, reliability, and latency guarantees for messages. In robotics examples include DDS (Data Distribution Service) used by ROS 2, LCM (Lightweight Communications and Marshalling), ZeroMQ, and proprietary message buses on embedded platforms.
Autoware (autonomous driving), Apex.OS, AWS RoboMaker, ROS 2 Galactic (default RMW), ADLINK defense systems.
450+ GitHub contributors, 1.4k stars, used in 100+ autonomous robotics projects.
Bipedal humanoid robot by Unitree Robotics, designed as a compact research, development, and developer platform.
Unitree H1 is a full-size general-purpose humanoid robot (~180 cm, ~47 kg). Bipedal, 5 DOF per leg + 4 DOF per arm, 3.3 m/s walking speed, 360° perception via 3D LiDAR + depth camera, Unitree M107 PMSM joint motors with ~360 N·m peak knee torque. Standard compute: Intel Core i5/i7; optional NVIDIA Jetson Orin NX.
libddsc.so library ~2 MB. Embedded build (rdpc.so) requires ~256 KB RAM.
License family: Weak Copyleft
License family: Permissive
XCDR2 support, discovery optimization for large networks.
DDS Security, shared memory transport improvements.
Default RMW in ROS 2 Galactic.
Full RMW support for ROS 2 Foxy.
First Eclipse release under new EPL license.
