Real Time Publish-Subscribe Protocol (RTPS)

FastRTPS: https://fast-dds.docs.eprosima.com/en/v1.7.0/

FastDDS (newer versions) https://fast-dds.docs.eprosima.com/en/v2.11.1/

FastRTPS

eprosima Fast RTPS is a C++ implementation of the RTPS (Real Time Publish-Subscribe) protocol.

No called FastDDS? https://github.com/eProsima/Fast-DDS