This type of Participant
refers to a Simple DDS DomainParticipant
. This Participant will discover all Participants deployed in its own local network in the same domain via multicast communication,and will communicate with those that share publication or subscription topics.
Use this Participant in order to communicate an internal standard DDS network, such as a ROS 2 or Fast DDS network in the same LAN.
simple
local
The only configuration required to start a Simple Participant is the Domain Id
on which it will listen for DDS communications. Check Configuration section <user_manual_configuration_domain_id>
for further details.
simple_participant: # Participant Id = simple_participant
type: simple
domain: 2 # Domain Id = 2