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Merged
ahcorde merged 3 commits into from
May 5, 2025
Merged

Review "Fast DDS Discovery Server" for Kilted #5544

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dc57c20
fixup outdated 'fastdds discovery' args
danielcranston May 5, 2025
76024db
use FASTDDS_DEFAULT_PROFILES_FILE instead of deprecated env var
danielcranston May 5, 2025
23b859a
cleanup superflous '`' around inlined code
danielcranston May 5, 2025
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28 changes: 14 additions & 14 deletions source/Tutorials/Advanced/Discovery-Server/Discovery-Server.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand Down Expand Up @@ -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::

Expand Down Expand Up @@ -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.
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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

Expand All @@ -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

Expand Down Expand Up @@ -631,21 +631,21 @@ 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::

.. group-tab:: Linux

.. 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

Expand Down Expand Up @@ -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
Expand Down