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Change Domain Example

The following YAML configuration file configures a DDS Router to create two Simple Participants <user_manual_participants_simple>, one in domain 0 and another in domain 1.

../../resources/examples/change_domain_allowlist.yaml

Configuration

Allowed Topics

This section lists the Topics <Topic> that the DDS Router will route from one Participant to the other. Topic HelloWorldTopic with datatype HelloWorld, and ROS 2 topic rt/chatter with datatype std_msgs::msg::dds_::String_ will be forwarded from one domain to the other, allowing different DDS domains to interact with each other.

../../resources/examples/change_domain_allowlist.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/change_domain_allowlist.yaml

Simple Participant Domain 1

This Participant is configured with a name, a kind and the Domain Id, which is 1 in this case.

../../resources/examples/change_domain_allowlist.yaml

Execute example

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

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/change_domain_allowlist.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.

There is also available an example without allowlist (available in <path/to/ddsrouter_tool>/share/resources/configurations/examples/change_domain.yaml). In this case, the topics of the DDS network are dynamically discovered by the DDS Router. Since there is no allowlist, the data from all the topics found are forwarded.