diff --git a/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst b/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst index 48523c4b701..a89d5a29fa5 100644 --- a/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst +++ b/source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst @@ -203,11 +203,11 @@ In several terminals, run the following code to establish a communication with r .. code-block:: console - $ fastdds discovery --server-id 0 --ip-address 127.0.0.1 --port 11811 + $ fastdds discovery --server-id 0 --udp-address 127.0.0.1 --udp-port 11811 .. code-block:: console - $ fastdds discovery --server-id 1 --ip-address 127.0.0.1 --port 11888 + $ fastdds discovery --server-id 1 --udp-address 127.0.0.1 --udp-port 11888 ``--server-id N`` means server with id N. When referencing the servers with ``ROS_DISCOVERY_SERVER``, server ``0`` must be in first place and server ``1`` in second place. @@ -263,7 +263,7 @@ In different terminals, run the following code to establish a communication with .. code-block:: console - $ fastdds discovery --server-id 0 --ip-address 127.0.0.1 --port 11811 --backup + $ fastdds discovery --server-id 0 --udp-address 127.0.0.1 --udp-port 11811 --backup .. tabs:: @@ -324,13 +324,13 @@ Run the first server listening on localhost with the default port of 11811. .. code-block:: console - $ fastdds discovery --server-id 0 --ip-address 127.0.0.1 --port 11811 + $ fastdds discovery --server-id 0 --udp-address 127.0.0.1 --udp-port 11811 In another terminal run the second server listening on localhost using another port, in this case port 11888. .. code-block:: console - $ fastdds discovery --server-id 1 --ip-address 127.0.0.1 --port 11888 + $ fastdds discovery --server-id 1 --udp-address 127.0.0.1 --udp-port 11888 Now, run each node in a different terminal. Use ``ROS_DISCOVERY_SERVER`` environment variable to decide which server they are connected to. @@ -450,7 +450,7 @@ Therefore, this section is devoted to explain how to use ROS 2 CLI with ROS 2 Da This will allow the Daemon to discover the entire Node graph, and to receive all topic and endpoint information. To do so, a Fast DDS XML configuration file is used to configure the ROS 2 Daemon and CLI tools. -Below you can find a XML configuration profile, which for this tutorial should be saved in the working directory as ```super_client_configuration_file.xml``` file. +Below you can find a XML configuration profile, which for this tutorial should be saved in the working directory as ``super_client_configuration_file.xml`` file. This file will configure every new participant using it, as a **Super Client**. .. code-block:: xml @@ -540,13 +540,13 @@ Then, instantiate a ROS 2 Daemon using the **Super Client** configuration (remem .. code-block:: console - $ export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ export FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. group-tab:: Windows .. code-block:: console - $ set FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ set FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. code-block:: console @@ -565,13 +565,13 @@ We can also see the Node's Graph using the ROS 2 tool ``rqt_graph`` as follows ( .. code-block:: console - $ export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ export FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. group-tab:: Windows .. code-block:: console - $ set FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ set FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. code-block:: console @@ -631,7 +631,7 @@ Then, run the talker and listener in separate terminals: Continue using the ROS 2 CLI with ``--no-daemon`` option with the new configuration. New nodes will connect with the existing Server and will know every topic. -Exporting ``ROS_DISCOVERY_SERVER`` is not needed as the ROS 2 tools will be configured through the ``FASTRTPS_DEFAULT_PROFILES_FILE``. +Exporting ``ROS_DISCOVERY_SERVER`` is not needed as the ROS 2 tools will be configured through the ``FASTDDS_DEFAULT_PROFILES_FILE``. .. tabs:: @@ -639,13 +639,13 @@ Exporting ``ROS_DISCOVERY_SERVER`` is not needed as the ROS 2 tools will be conf .. code-block:: console - $ export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ export FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. group-tab:: Windows .. code-block:: console - $ set FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml + $ set FASTDDS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml .. code-block:: console @@ -685,7 +685,7 @@ After both executions are done, run the Python script to generate a graph simila .. code-block:: console - $ export FASTRTPS_DEFAULT_PROFILES_FILE="no_intraprocess_configuration.xml" + $ export FASTDDS_DEFAULT_PROFILES_FILE="no_intraprocess_configuration.xml" $ sudo bash generate_discovery_packages.bash ~/ros2/install/local_setup.bash $ sudo bash generate_discovery_packages.bash ~/ros2/install/local_setup.bash SERVER $ python3 discovery_packets.py