discovery-server-superclient-demo

A working demo with a Fast DDS Discovery Server and a Super Client DDS Config.

Prerequisites

1. Create the .env file (based on .env.template and place your Husarnet Join code here)
2. Make sure you have installed Docker Compose v2. I have tested on the following version:

user@laptop:/$ docker compose version
Docker Compose version v2.6.0

If you have version < 2.0.0 then replace docker compose with a docker-compose command.

Running ROS 2 containers

Run those Docker Compose commands in two separate terminals:

ROS 2 talker with a Discovery Server DDS config

docker compose -f compose.server.yaml up

ROS 2 listener with a Super Client DDS config

docker compose -f compose.client.yaml up

Testing a Super Client

Open a separate terminal and access the shell of a ROS 2 listener Docker container with a Super Client DDS config. After you list the available topics you should see a /chatter topic:

user@laptop:/$ docker exec -it super-client bash
root@9430b05a9684:/# ros2 topic list
/chatter
/parameter_events
/rosout
root@9430b05a9684:/# ros2 topic echo /chatter
data: 'Hello World: 700'
---
data: 'Hello World: 701'
---
data: 'Hello World: 702'
---
data: 'Hello World: 703'
---
...

If your replace dds-config.super-client.xml with dds-config.client.xml in compose.client.yaml, then ros2 topic list command will not list a /chatter topic.