Skip to content

Add support for automatic discovery range #262

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
Parent: Jazzy 2.8 Release
merged 2 commits into from
Sep 30, 2025
Merged

Add support for automatic discovery range #262

merged 2 commits into from
Sep 30, 2025

Conversation

@civerachb-cpr
Copy link
Contributor

Write the ROS_AUTOMATIC_DISCOVERY_RANGE and ROS_STATIC_PEERS envars to setup.bash

Sample configuration (not necessarily useful, but syntactically valid):

system:
  ros2:
    middleware:
      automatic_discovery_range: subnet  # one of subnet, localhost, system_default, or off
      static_peers:  # array of hostnames and/or IP addresses
        - 192.168.131.1
        - 192.168.131.2
        - 192.168.131.100

result in setup.bash:

export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
export ROS_STATIC_PEERS="192.168.131.1;192.168.131.2;192.168.131.100"

Part of RPSW-2778.

@civerachb-cpr civerachb-cpr requested a review from a team as a code owner September 11, 2025 16:50
@civerachb-cpr civerachb-cpr requested review from hilary-luo, luis-camero and roni-kreinin and removed request for a team and roni-kreinin September 11, 2025 16:50
@mergify
Copy link

mergify bot commented Sep 11, 2025 •
edited
Loading

🧪 CI Insights

Here's what we observed from your CI run for ca5e313.

🟢 All jobs passed!

But CI Insights is watching 👀

civerachb-cpr added a commit to clearpathrobotics/cpr-documentation that referenced this pull request Sep 15, 2025
@civerachb-cpr
Add documentation for new automatic discovery fields
b08ea89 
Document changes from
- clearpathrobotics/clearpath_common#262
- clearpathrobotics/clearpath_config#191
@civerachb-cpr civerachb-cpr mentioned this pull request Sep 15, 2025
Merged
@civerachb-cpr civerachb-cpr merged commit 174005f into rc/jazzy/2.8 Sep 30, 2025
3 of 19 checks passed
@civerachb-cpr civerachb-cpr deleted the feature/discovery-range branch September 30, 2025 18:23
tonybaltovski pushed a commit to clearpathrobotics/cpr-documentation that referenced this pull request Oct 2, 2025
@civerachb-cpr
Add documentation for new automatic discovery fields (#470)
a5138cd 
Document changes from
- clearpathrobotics/clearpath_common#262
- clearpathrobotics/clearpath_config#191
rhysfaultless-cpr added a commit to clearpathrobotics/cpr-documentation that referenced this pull request Oct 24, 2025
@rhysfaultless-cpr @jmastrangelo-cpr
@nvanheyst @tonybaltovski @nvh-cpr @jhiggins-cpr @civerachb-cpr @luis-camero
Production sync (#484)
f74ace5 
* first pass at adding ROS-like api to the documentaion

* added a using the api page

* visual as table

* proofreading - mostly spelling (#459)

* Update drivetrain.mdx

* Update robot.mdx

removed a because prompts is plural

* Update _clearpath_firmware.mdx

spelling of ethernet

* Update robot.mdx

removed "a" because prompts is plural

* Update user_manual_husky.mdx

* Update user_manual_husky.mdx

* Update husky_a300_power_connections.mdx

* Update husky_a300_tire_pressure.mdx

* Update husky_a300_motors.mdx

* Update husky_a300_computer.mdx

* Update husky_a300_replacing_circuit_boards.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_whats_included.mdx

* Update husky_a300_system_architecture.mdx

* Update husky_a300_ip_addresses.mdx

* Update husky_a300_safety_system_functionality.mdx

* Update husky_a300_emergency_stop_buttons.mdx

* Update husky_a300_emergency_stop_clearing.mdx

* Update common_wireless_joystick_ps4.mdx

* Update husky_a300_amp_check_sensors.mdx

* Update husky_a300_pre_operation_inspection.mdx

* Update husky_a300_system_limits.mdx

* Update husky_a300_lockout_tagout.mdx

* Update husky_a300_tire.mdx

* Update husky_a300_electronics_tray.mdx

* Update supported_manipulators.mdx

* spelling (#461)

* proofreading and clean up fork

* Update drivetrain.mdx

* Update robot.mdx

removed a because prompts is plural

* Update _clearpath_firmware.mdx

spelling of ethernet

* Update robot.mdx

removed "a" because prompts is plural

* Update user_manual_husky.mdx

* Update user_manual_husky.mdx

* Update husky_a300_power_connections.mdx

* Update husky_a300_tire_pressure.mdx

* Update husky_a300_motors.mdx

* Update husky_a300_computer.mdx

* Update husky_a300_replacing_circuit_boards.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_whats_included.mdx

* Update husky_a300_system_architecture.mdx

* Update husky_a300_ip_addresses.mdx

* Update husky_a300_safety_system_functionality.mdx

* Update husky_a300_emergency_stop_buttons.mdx

* Update husky_a300_emergency_stop_clearing.mdx

* Update common_wireless_joystick_ps4.mdx

* Update husky_a300_amp_check_sensors.mdx

* Update husky_a300_pre_operation_inspection.mdx

* Update husky_a300_system_limits.mdx

* Update husky_a300_lockout_tagout.mdx

* Update husky_a300_tire.mdx

* Update husky_a300_electronics_tray.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_power_connections.mdx

* spelling  (#2)

* Update drivetrain.mdx

* Update robot.mdx

removed a because prompts is plural

* Update _clearpath_firmware.mdx

spelling of ethernet

* Update robot.mdx

removed "a" because prompts is plural

* Update user_manual_husky.mdx

* Update user_manual_husky.mdx

* Update husky_a300_power_connections.mdx

* Update husky_a300_tire_pressure.mdx

* Update husky_a300_motors.mdx

* Update husky_a300_computer.mdx

* Update husky_a300_replacing_circuit_boards.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_whats_included.mdx

* Update husky_a300_system_architecture.mdx

* Update husky_a300_ip_addresses.mdx

* Update husky_a300_safety_system_functionality.mdx

* Update husky_a300_emergency_stop_buttons.mdx

* Update husky_a300_emergency_stop_clearing.mdx

* Update common_wireless_joystick_ps4.mdx

* Update husky_a300_amp_check_sensors.mdx

* Update husky_a300_pre_operation_inspection.mdx

* Update husky_a300_system_limits.mdx

* Update husky_a300_lockout_tagout.mdx

* Update husky_a300_tire.mdx

* Update husky_a300_electronics_tray.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_power_connections.mdx

* spelling!

* Accessories section – spelling and grammar (#462)

* proofreading and clean up fork

* Update drivetrain.mdx

* Update robot.mdx

removed a because prompts is plural

* Update _clearpath_firmware.mdx

spelling of ethernet

* Update robot.mdx

removed "a" because prompts is plural

* Update user_manual_husky.mdx

* Update user_manual_husky.mdx

* Update husky_a300_power_connections.mdx

* Update husky_a300_tire_pressure.mdx

* Update husky_a300_motors.mdx

* Update husky_a300_computer.mdx

* Update husky_a300_replacing_circuit_boards.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_whats_included.mdx

* Update husky_a300_system_architecture.mdx

* Update husky_a300_ip_addresses.mdx

* Update husky_a300_safety_system_functionality.mdx

* Update husky_a300_emergency_stop_buttons.mdx

* Update husky_a300_emergency_stop_clearing.mdx

* Update common_wireless_joystick_ps4.mdx

* Update husky_a300_amp_check_sensors.mdx

* Update husky_a300_pre_operation_inspection.mdx

* Update husky_a300_system_limits.mdx

* Update husky_a300_lockout_tagout.mdx

* Update husky_a300_tire.mdx

* Update husky_a300_electronics_tray.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_power_connections.mdx

* spelling  (#2)

* Update drivetrain.mdx

* Update robot.mdx

removed a because prompts is plural

* Update _clearpath_firmware.mdx

spelling of ethernet

* Update robot.mdx

removed "a" because prompts is plural

* Update user_manual_husky.mdx

* Update user_manual_husky.mdx

* Update husky_a300_power_connections.mdx

* Update husky_a300_tire_pressure.mdx

* Update husky_a300_motors.mdx

* Update husky_a300_computer.mdx

* Update husky_a300_replacing_circuit_boards.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_whats_included.mdx

* Update husky_a300_system_architecture.mdx

* Update husky_a300_ip_addresses.mdx

* Update husky_a300_safety_system_functionality.mdx

* Update husky_a300_emergency_stop_buttons.mdx

* Update husky_a300_emergency_stop_clearing.mdx

* Update common_wireless_joystick_ps4.mdx

* Update husky_a300_amp_check_sensors.mdx

* Update husky_a300_pre_operation_inspection.mdx

* Update husky_a300_system_limits.mdx

* Update husky_a300_lockout_tagout.mdx

* Update husky_a300_tire.mdx

* Update husky_a300_electronics_tray.mdx

* Update husky_a300_safety_alternate.mdx

* Update husky_a300_power_connections.mdx

* spelling!

* spelling and grammar in accessories section

---------

Co-authored-by: nvh-cpr <nvheyst@clearpathrobotics.com>

* Ridgeback r100 step model (#463)

* Added a STEP model and component for the Ridgeback R100's Integration page.

* Reduced heading indenture throughout the page, to render the CSS autonumbering correctly.

* spelling and grammar (#464)

* Spelling and grammar and components used for accessories. 
* Modified Fixposition XVN to Movella XVN

* change headings

* moved changes made to 2.0.0 to the docs_outdoornav_usesr_manual folder

* fix link to delete dock

* review changes

* turn off next version

* fix broken link

* fix broken links

* added update instructions

* move note location and update scp command

* Added setup path details for running clearpath_viz. (#467)

* finalized update pages for 2.0.0 and 2.1.0

* CPE87-2851: Add more A300 regulatory notes (#472)

* Added more regulatory standards
* Reorganize regulatory by country

* Remove duplicate regulatory entry (#473)

* Remove duplicate regulatory entry

* Rename oakd namespace in robot.yaml (#471)

* Added note to use CLI to get diagnostics if Cockpit is not running. (#468)

* Jackal pacs integration (#474)

* Updated hole pattern, thread, and screw type.

* Added cable and plate to Jackal's PACS section.

* Added TM symbol to PACS references.

* review changes

* review fix

* Readme updates (#476)

* Removed a period.

* Resolved hyperlink, by removing #-

* Resoved bold text issue inside a details block, by changing ** to a <b> tag.

* Resloved inline code section inside a details tag, by changing ` to <code>.

* Capital letter.

* Changed 'Robots / ROS' to 'Software'. This is aligned with the current Navbar buttons.

* Added a spelling guide section.

* Jackal heading indenture (#477)

* Updated heading indeture to resolve CSS autonumbering.

* Removed quotes, and added a link to the PACS page.

* Updated the hyperlink to the Husky A200's STEP model.  (#478)

* fixed some small issues with the update process

* Add documentation for system.bash and updated platform.extras.launch (#475)

* Add documentation for new automatic discovery fields (#470)

Document changes from
- clearpathrobotics/clearpath_common#262
- clearpathrobotics/clearpath_config#191

* Update navigation tutorials with `scan_topic` argument (#480)

* Update the navigation tutorial to include the new scan_topic argument, add a new page for Rviz tools, update the launching page to include steps for Nav2+SLAM and Nav2+Localization instructions for simulation & physical robots. Add a warning about the minumum range of some 3D lidars

* Fix broken link

* Another link

* added messages for the 2.1.1 release (will released as documentation 2.1)

* added task executor action/service

* release onav 2.1.0

* Added Jazzy 2.8 changes for clearpath_config.

* Added Jazzy 2.8 changes for clearpath_common.

* Added Jazzy 2.8 changes for clearpath_robot.

* Manipulators (#485)

* Add Franka components

* Use 'details' to create expandable sections

* Add manipulator RViz models to non-versioned components

* Add manipulator setup images to non-versioned components

* Add Franka to Humble config doc

* Updated Jazzy Manipulator documentation

* Use updated Kinova components in accessory documentation

* Fix paths

* Fixed spelling inconsistencies.

* Added note about 3D lidar scans being experimental.

* Grammer changes.

---------

Co-authored-by: José Mastrangelo <jmastrangelo@clearpathrobotics.com>
Co-authored-by: Nathan Van Heyst <57072440+nvanheyst@users.noreply.github.com>
Co-authored-by: Tony Baltovski <tbaltovski@clearpathrobotics.com>
Co-authored-by: nvh-cpr <nvheyst@clearpathrobotics.com>
Co-authored-by: jmastrangelo-cpr <68664094+jmastrangelo-cpr@users.noreply.github.com>
Co-authored-by: jhiggins-cpr <60929523+jhiggins-cpr@users.noreply.github.com>
Co-authored-by: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Co-authored-by: luis-camero <88782189+luis-camero@users.noreply.github.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@luis-camero luis-camero Awaiting requested review from luis-camero luis-camero is a code owner automatically assigned from clearpathrobotics/clearpath-platform-team

1 more reviewer

@hilary-luo hilary-luo hilary-luo approved these changes

Reviewers whose approvals may not affect merge requirements

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@civerachb-cpr @hilary-luo