This issue tracks several PRs aimed at switching the RMW implementation for RTI Connext DDS included in the ROS2 source tree from the one provided by ros2/rmw_connext (rmw_connext_cpp) to the one provided by rticommunity/rmw_connextdds (rmw_connextdds) in preparation for the ROS2 Galactic release.

• rcl #895

• rclcpp #1574

• rclpy #698

• rmw_implementation #182

• rosbag2 #671

• rosidl_python #127

• rosidl_typesupport #106

• sros2 #253

• system_tests #463

• demos #489

• ros2 #1099

This ros2.repos can be used to build the source tree using forks of all affected repositories.