Override domain_id with ROS_DOMAIN_ID provided by the agent #333
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Please take a look at the Windows CI Warning |
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Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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pablogs9
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Jul 4, 2023
| @@ -1242,5 +1260,15 @@ bool FastDDSMiddleware::matched_replier_from_bin( | |||
| return rv; | |||
| } | |||
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| int16_t FastDDSMiddleware::get_domain_id_from_env(){ | |||
| int16_t agent_domain_id = 0; | |||
| const char * agent_domain_id_env = std::getenv( "ROS_DOMAIN_ID" ); | |||
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IMO The override of Micro XRCE-DDS Agent shall be ROS 2 agnostic. What about using XRCE_DOMAIN_ID_OVERRIDE?
CC: @Acuadros95
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Then the compose would look like this if you have defined ROS_DOMAIN_ID before.
microros:
image: husarion/micro-ros-agent:humble-overrice-domain-id
network_mode: host
ipc: host
devices:
- ${SERIAL_PORT:?err}
environment:
- SERIAL_PORT
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID}
# - XRCE_DOMAIN_ID_OVERRIDE=2
command: serial -D $SERIAL_PORT serial -b 576000 # -v6Not bad. I can do this. ;)
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I agree with @pablogs9, looks cleaner
Where can I describe the feature? |
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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Don't worry @delihus, we can do it here https://github.com/eProsima/Micro-XRCE-DDS-docs after the PR is merged |
Acuadros95
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Jul 10, 2023
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There was a need to select
ROS_DOMAIN_IDin firmware without recompiling. Comparing this changes #322 and this PR #331 I prepared overriding client domain id. This change will override the clients domain (only when it is255- safe value due to the smaller domain limit) to theROS_DOMAIN_IDconfigured as an environmental variable in e. g. micro-ros-agent docker container.Tested on Nucleo-L476RG publisher example and ROSbot 2R firmware.
Here are the changes inside firmware husarion/rosbot_ros2_firmware#20.
I prepared prebuilt docker container with these changes
husarion/micro-ros-agent:humble-overrice-domain-id.This is the example compose for ROSbot 2R or any microros serial client:
Best regards,
JD