ZeroDDS

⚠️ OMG Vendor-ID pending. ZeroDDS does not yet have an official OMG-assigned Vendor-ID. Until the OMG registers the Vendor-ID, Discovery packets (SPDP/SEDP vendor_id field in the ProtocolHeader) carry a provisional marker and are therefore not cleared for production cross-vendor deployments. ZeroDDS speaks native OMG DDSI-RTPS 2.5; cross-vendor wire interop against Cyclone DDS / RTI Connext / eProsima Fast DDS is validated in the conformance suite, and the vendor_id field is the sole deviation. The application has been filed with the OMG; this README will be updated once the Vendor-ID is assigned.

Production-grade pure-Rust implementation of the OMG Data Distribution Service — seven native language PSMs (C-FFI, C++, C#, Java, Python, TypeScript, Rust), ten first-class protocol bridges, and a complete CORBA/CCM stack.

Status: 1.0.0-rc.4 Release Candidate. 122 crates published on crates.io, all bridge layers conformance-verified against Cyclone DDS, RabbitMQ, mosquitto, omniORB and gRPC reflection.

Why ZeroDDS

Zero dependencies in the safe core — no transitive cargo bloat in the foundation crates.
Zero unsafe wherever structurally possible, every unsafe block carries a // SAFETY: justification verified by dds-lint.
Zero panic in the hot path, contractual Result-everywhere.
Zero copy on the shared-memory transport (iceoryx2-compatible).
Zero vendor lock-in — native OMG-DDSI-RTPS-2.5 wire, interoperable with Cyclone DDS, OpenDDS and RTI Connext (see Vendor-ID note above).

Spec Coverage

ZeroDDS implements the full OMG DDS family — DDS-DCPS 1.4, DDSI-RTPS 2.5, DDS-XTypes 1.3, DDS-Security 1.2, DDS-XML 1.0, DDS-XRCE 1.0, DDS-RPC 1.0, the DDS-PSM-Cxx and DDS-Java-PSM language mappings, OMG IDL 4.2, DDS4CCM 1.1 and CORBA 3.3 — plus the ZeroDDS-published vendor specifications (the protocol bridges, the per-language XCDR2 binding conformance, delivery modes, zero-copy, and more).

The complete, per-section coverage matrix — every normative section traced to source + tests, always current — is published live at https://zerodds.org/spec-coverage/ (source under docs/spec-coverage/).

Quickstart

# Library, via Cargo — zerodds-dcps pulls in discovery + rtps transitively
cargo add zerodds-dcps

# Or the CLI tools as pre-built packages
brew install zero-objects/zerodds/zerodds   # macOS (Homebrew tap)
sudo apt install zerodds-cli                 # Debian/Ubuntu (.deb)
sudo dnf install zerodds-cli                 # RHEL/Fedora (.rpm)

# Or via Docker (one image per tool/bridge)
docker pull ghcr.io/zero-objects/zerodds-cli:1.0.0-rc.4

Hello world publisher (compiles + runs against the published 1.0.0-rc.4 crate — see examples/):

use zerodds_dcps::*;

fn main() {
    let factory = DomainParticipantFactory::instance();
    let participant = factory.create_participant_offline(0, DomainParticipantQos::default());
    let topic = participant
        .create_topic::<RawBytes>("Greetings", TopicQos::default())
        .expect("create_topic");
    let writer = participant
        .create_publisher(PublisherQos::default())
        .create_datawriter::<RawBytes>(&topic, DataWriterQos::default())
        .expect("create_datawriter");

    writer.write(&RawBytes::new(b"Hello, DDS!".to_vec())).expect("write");
}

A full publish→subscribe roundtrip (two participants over UDP) and 14 further chapters in examples/tutorials/dds-chat/.

Architecture

Nine layers, 135 workspace crates (122 published on crates.io), single Cargo workspace:

Layer 8  CORBA + CCM (17 crates)            corba-ior, corba-iiop, ami4ccm, ...
Layer 7  Bridging Services (11 crates)      ros2-rmw, dlrl, opcua-gateway, xrce, ...
Layer 6  Language Bindings (11 crates)      cpp, cs, java, py, ts-node, ts-wasm, c-api
Layer 5  Protocol Bridges (10 crates)       ws, mqtt, coap, amqp, grpc, corba-dds, bridge-security
Layer 4  Schema (8 crates)                  cdr, idl, idl-{cpp,csharp,java,rust,ts}
Layer 3  Core Services (12 crates)          dcps, qos, security, types, sql-filter, ...
Layer 2  Wire Protocol (6 crates)           rtps, discovery, builtin-topics, ...
Layer 1  Transport (5 crates)               transport-{udp,tcp,shm,tsn}, flatdata
Layer 0  Foundation (8 crates)              foundation, monitor, observability, time, ...

Per-layer details in docs/architecture/.

Bindings + Bridges

Language bindings (Layer 6) — seven native PSMs on one Pure-Rust core; no JNI, no P/Invoke, no thin wrappers — each is a first-class crate:

Language	Crate	PSM
Rust	`zerodds-rs` (idiomatic SDK) / `zerodds-dcps` (core)	ZeroDDS vendor PSM
C	`zerodds-c-api` (stable C ABI, cdylib + staticlib)	C-FFI
C++17	`zerodds-cpp` — ABI-stable headers via `zerodds-idlc --cpp`	OMG DDS-PSM-Cxx 1.0
C# / .NET 8	`zerodds-cs` (netstandard2.1, NuGet-packageable)	ZeroDDS vendor PSM
Java 21	`zerodds-java-omgdds` (`org.omg.dds.*`, pure Java)	OMG DDS-Java-PSM
Python 3.8–3.14	`zerodds-py` (PyO3, abi3 wheels)	ZeroDDS vendor PSM
TypeScript (Node)	`zerodds-ts-node`	ZeroDDS vendor PSM
TypeScript (browser)	`zerodds-ts-wasm` (WASM, WebSocket transport)	ZeroDDS vendor PSM

Protocol bridges (Layer 5) — ten first-class bridge daemons, each a workspace crate with its own protocol-conformance suite:

Bridge	External spec	Crate
MQTT	OASIS MQTT 5.0 (+ 3.1.1)	`zerodds-mqtt-bridge`
AMQP	OASIS AMQP 1.0 (+ 0.9.1)	`zerodds-amqp-bridge`
CoAP	IETF RFC 7252 (+ 7641 observe, 7959 block-wise)	`zerodds-coap-bridge`
WebSocket	IETF RFC 6455	`zerodds-websocket-bridge`
gRPC	HTTP/2 + Protobuf 3 (DDS-RPC flows here)	`zerodds-grpc-bridge`
ROS 2	REP-2007/2008/2009 (drop-in `rmw`)	`rmw-zerodds-shim`
DDS-XRCE	OMG DDS-XRCE 1.0 (MCU clients over serial/UDP)	`zerodds-xrce-agent`
Zenoh	Eclipse Zenoh wire protocol	`zerodds-zenoh-bridge`
OPC UA	OMG DDS-OPCUA 1.0 gateway	`zerodds-opcua-gateway`
SOAP	WSDL / Web Services	`zerodds-soap`

Shared zerodds-bridge-security: TLS 1.3 (rustls), bearer/JWT-RS256/mTLS/ SASL-PLAIN auth, ACL with wildcard + group matching, SIGHUP cert rotation. In-DDS domain routing via zerodds-routing-service; the full CORBA/CCM GIOP/IIOP stack lives in Layer 8.

Linux / macOS / Windows

Tier-1 platforms with native installers:

Platform	Build	Install
Linux	`cargo build --release`	`apt install zerodds` (`.deb`), `dnf install` (`.rpm`), `pacman -S` (Arch PKGBUILD), AppImage
macOS	`cargo build --release`	`brew install zerodds`, launchd plists
Windows	`cargo build --release`	MSI (WiX 4) registers as Windows service, Scoop, Chocolatey
Docker	n/a	Multi-arch `linux/amd64` + `linux/arm64`, ready-made `docker-compose.yml`

Packaging artifacts under packaging/, production deployment spec in docs/specs/zerodds-deployment-1.0.md.

Documentation

Documentation Trail — six-station guided tour for users (English): Install → Architecture → Configuration → IDL → Per-Language Integration → Operations.
Spec Coverage — per-spec audit docs, every normative section traced to source + tests.
ADRs — Architecture Decision Records.
Examples — dds-chat 15-chapter tutorial, dds-warehouse 10-station industrial-IoT demo, otel observability sample.
Vendor Specs — published in OMG-DDS-stylistic format with conformance profiles.

Building

# Full workspace build
cargo build --workspace --release

# Tests
cargo test --workspace

# Clippy
cargo clippy --workspace --all-targets -- -D warnings

# Docs
cargo doc --workspace --no-deps

Note: the durability-store-lakehouse adapter links the system libduckdb (v1.5.3). Either install it (DUCKDB_LIB_DIR/DUCKDB_INCLUDE_DIR, see ci/Dockerfile.rust) or exclude the two crates that need it: cargo build --workspace --exclude zerodds-durability-store-lakehouse --exclude zerodds-durability-service-bin. Every other crate builds with no system dependencies.

rust-toolchain.toml pins to 1.88.0 (MSRV).

Contributing

See CONTRIBUTING.md for the public contribution flow, DCO sign-off, PR conventions, and per-layer review expectations. Code of Conduct: CODE_OF_CONDUCT.md.

Security issues: SECURITY.md. Do not open public issues for security vulnerabilities.

OMG Vendor-ID Status

The OMG assigns each DDS implementation a 2-byte Vendor-ID carried in the vendor_id field of every DDSI-RTPS header (see DDSI-RTPS 2.5 §8.3.3.1 Table 8.1). Known Vendor-IDs include:

Vendor	ID
RTI Connext	0x0101
eProsima Fast DDS	0x010F
Eclipse Cyclone DDS	0x0110
OpenDDS	0x0103

ZeroDDS has not yet been assigned a Vendor-ID. Until the OMG processes the application, ZeroDDS runs with a provisional marker. Implications:

Wire format: native DDSI-RTPS 2.5 — only the vendor_id field differs from Cyclone / RTI / Fast DDS.
Cross-vendor discovery: other vendors do not yet recognise ZeroDDS Participants in their Vendor-ID list and treat them as "unknown vendor". Cross-vendor interop is nevertheless validated in the conformance suite.
Production deployments: cross-vendor setups using ZeroDDS should be regarded as experimental until the Vendor-ID has been assigned.

This section will be updated as soon as the OMG registers the Vendor-ID. See https://zerodds.org for the latest status.

License

Apache License 2.0. See LICENSE and NOTICE.

Name		Name	Last commit message	Last commit date
Latest commit History 119 Commits
.cargo		.cargo
.github		.github
crates		crates
docs		docs
documentation		documentation
man		man
meta-zerodds		meta-zerodds
packaging		packaging
pkg		pkg
scripts		scripts
testing/isolation		testing/isolation
tests		tests
tools		tools
.dockerignore		.dockerignore
.editorconfig		.editorconfig
.gitignore		.gitignore
CHANGELOG.md		CHANGELOG.md
CODE_OF_CONDUCT.md		CODE_OF_CONDUCT.md
CONTRIBUTING.md		CONTRIBUTING.md
Cargo.lock		Cargo.lock
Cargo.toml		Cargo.toml
LICENSE		LICENSE
NOTICE		NOTICE
README.md		README.md
SECURITY.md		SECURITY.md
deny.toml		deny.toml
rust-toolchain.toml		rust-toolchain.toml
rustfmt.toml		rustfmt.toml

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