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Environment variables

This is the list of environment variables that affect the behavior of Fast DDS:

FASTRTPS_DEFAULT_PROFILES_FILE

Defines the location of the default profile configuration XML file. If this variable is set and its value corresponds with an existing file, Fast DDS will load its profiles. For more information about XML profiles, please refer to xml_profiles.

Linux 
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/user/profiles.xml
Windows 
set FASTRTPS_DEFAULT_PROFILES_FILE=C:\profiles.xml

SKIP_DEFAULT_XML

Skips looking for a default profile configuration XML file. If this variable is set to 1, Fast DDS will load the configuration parameters directly from the classes' definitions without looking for the DEFAULT_FASTRTPS_PROFILES.xml in the working directory. For more information about XML profiles, please refer to xml_profiles.

Linux 
export SKIP_DEFAULT_XML=1
Windows 
set SKIP_DEFAULT_XML=1

ROS_DISCOVERY_SERVER

Warning

The environment variable is only used in the case where discovery protocol<discovery_protocol> is set to , , or . In any other case, the environment variable has no effect.

Setting this variable configures the DomainParticipant<dds_layer_domainParticipant> to connect to one or more servers using the Discovery Server<discovery_server> discovery mechanism.

  • If ROS_DISCOVERY_SERVER is defined, and the DomainParticipant's discovery protocol<discovery_protocol>, is set to , then Fast DDS will instead configure it as of the given server.
  • If ROS_DISCOVERY_SERVER is defined, and the DomainParticipant's discovery protocol<discovery_protocol> is or , then the variable is used to add remote servers to the given server, leaving the discovery protocol<discovery_protocol> as or respectively.
  • The value of the variable must list the locator of the server in the form of the IPv4 address (e.g., '192.168.2.23') or IP-port pair (e.g., '192.168.2.23:24353'). Instead of an IPv4 address, a name can be specified (e.g., 'localhost', 'localhost:12345'). This name would be used to query known hosts and available DNS servers to try to resolve a valid IPv4 address (see DS_dns_name).
  • If no port is specified, the default port 11811 is used.
  • To set more than one server's address, they must be separated by semicolons.
  • The server's ID is determined by their position in the list. Two semicolons together means the corresponding ID is free.

The following example shows how to set the address of two remote discovery servers with addresses '84.22.259.329:8888' and 'localhost:1234' and IDs 0 and 2 respectively.

Linux 
export ROS_DISCOVERY_SERVER="84.22.259.329:8888;;localhost:1234"
Windows 
set ROS_DISCOVERY_SERVER=84.22.259.329:8888;;localhost:1234

Important

IP addresses specified in ROS_DISCOVERY_SERVER must be either valid IPv4 addresses or names. If a name which can be translated into an address is specified, the first valid IPv4 returned from the query will be used.

Important

This environment variable is meant to be used in combination with Fast DDS discovery CLI<cli_discovery>. The server's ID is used by Fast DDS to derived the of the server. If the server is not instantiated using the CLI, the server's GUID prefix should adhere to the same schema as the one generated from the CLI. Else, the clients configured with this environment variable will not be able to establish a connection with the server, thus not being able to connect to other clients either. The server's GUID prefixes generated by the CLI comply with the following schema: 44.53.<server-id-in-hex>.5f.45.50.52.4f.53.49.4d.41. This prefix schema has been chosen for its ASCII translation: DS<id_in_hex>_EPROSIMA.

Important

This environment variable can be changed at runtime adding new remote servers to a , or (that has been initialized with this environment variable previously) if loaded from an environment file using env_vars_fastdds_environment_file.

FASTDDS_STATISTICS

Warning

The environment variable is only used in the case where the CMake option FASTDDS_STATISTICS has been enabled. In any other case, the environment variable has no effect. Please, refer to cmake_options for more information.

Setting this variable configures the DomainParticipant<dds_layer_domainParticipant> to enable the statistics DataWriters which topics are contained in the list set in this environment variable. The elements of the list should be separated by semicolons and match the statistics topic name aliases<statistics_topic_names>.

For example, to enable the statistics DataWriters that report the latency measurements, the environment variable should be set as follows:

Linux 
export FASTDDS_STATISTICS="HISTORY_LATENCY_TOPIC;NETWORK_LATENCY_TOPIC"
Windows 
set FASTDDS_STATISTICS=HISTORY_LATENCY_TOPIC;NETWORK_LATENCY_TOPIC

Important

This environment variable can be used together with the XML profiles (for more information please refer to auto_enabling_statistics_datawriters). The statistics DataWriters that will be enabled is the union between the ones specified in the XML file (if loaded) and the ones stated in the environment variable (if set).

FASTDDS_ENVIRONMENT_FILE

Setting this environment variable to an existing json file allows to load the environment variables from the file instead of from the environment. This allows to change the value of some environment variables at run time with just modifying and saving the changes to the file. The environment value can be either an absolute or relative path. The file format is as follows:

/../code/environment_file_format.json

Important

The environment variables set in the environment file have precedence over the environment.

Warning

Currently only ROS_DISCOVERY_SERVER environment variable allows for changes at run time. (see DS_modify_server_list)