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XML Participant Configuration

The following YAML configuration file configures a DDS Router to create a Simple Participant <user_manual_participants_simple> in domain 0, and another participant configured by XML <user_manual_participants_xml> to communicate in domain 1. The result of executing this configuration is similar to the one in examples_change_domain_example. It generates a bridge between two different domains (0 & 1).

../../resources/examples/xml.yaml

Configuration

Fast DDS XML Configuration

supports loading XML configuration files to load profiles. These profiles are used to configure different DomainParticipants using profile name. Loading an XML file or setting the raw xml file in the YAML configuration file allows to load such profiles. Here there are the 2 ways to load them. For more information check following section <user_manual_configuration_load_xml>.

../../resources/examples/xml.yaml

Simple Participant Domain 0

This Participant is configured with a name, a kind and the Domain Id, which is 0 in this case.

../../resources/examples/xml.yaml

XML Participant Domain 1

This Participant is configured with a name, a kind and the XML profile tag that will be used to configure it. As the XML loaded in this same YAML file configures profile custom_participant_configuration as default Participant in domain 1, this Participant will work as a local participant in such domain.

../../resources/examples/xml.yaml

Execute example

Please refer to this section <user_manual_user_interface> for a detailed explanation on how to execute the .

Execute with Fast DDS Basic Configuration Example

Execute a BasicConfigurationExample publisher in domain 0:

./BasicConfigurationExample publisher --domain 0

Execute a BasicConfigurationExample subscriber in domain 1:

./BasicConfigurationExample subscriber --domain 1

Execute with this configuration file (available in <path/to/ddsrouter_tool>/share/resources/configurations/examples/xml.yaml). Once the is running, messages from publisher in domain 0 will be forwarded by the Router to the subscriber in domain 1, that will print them in stdout.

Execute with ROS 2 demo nodes

Execute a ROS 2 demo_nodes_cpp talker in domain 0:

ROS_DOMAIN_ID=0 ros2 run demo_nodes_cpp talker

Execute a ROS 2 demo_nodes_cpp listener in domain 1:

ROS_DOMAIN_ID=1 ros2 run demo_nodes_cpp listener

Execute with this configuration file (available in <path/to/ddsrouter_tool>/share/resources/configurations/examples/xml.yaml). Once the is running, messages from talker in domain 0 will be forwarded by the Router to the listener in domain 1, that will print them in stdout.