Here’s an excerpt from email I got from OpenROV Support back in Feb 2018:
We use RTI Connext DDS which is a closed implementation of the DDS standard but you can get a community license for it (see the IRAD ) section on their website).
A couple of open source DDS implementations include eProsima Fast RTPS and OpenSplice DDS. Here are the URLs for those implementations so you can learn more:
https://www.rti.com/downloads/ RTI product options, Shapes demo
http://www.prismtech.com/dds-community webb OpenSplice DDS DL ed
Other robotics and distributed systems/projects also use DDS, a primary example being ROS2 which supports RTI Connext DDS and eProsima Fast RTPS.
Eventually we are going to explore developing an SDK as well but releasing such a product isn’t on this year’s roadmap currently.
end OpenROV email
OpenROV has also posted the DDS QOS and types on gitlab that I assume you could use to subscribe to the Trident RPi3B published data :
You might also look at the RTI Connector that has bindings for other languages. It’s a good starting point. Use its reader and writer code to talk to each other and subscribe to the Shapes demo shapes.
Do you have your Trident? Let us know your progress since I haven’t seen other forum members talking about DDS.