Latest DDS standard V1.4
https://www.omg.org/spec/DDS/1.4/PDF
Abbr
RTPS - realtime publish subscribe
IDL - interface definition language
DDS - data distribution language
DCPS - Data Centric Publish Subscribe
Popular DDSs
OpenDDS: Object Computing
Fast DDS/Fast RTPS: eProsima
Cyclone DDS: Eclipse
Vortex OpenSlice: ADLINK
RTI Context DDS