3. Configuration¶
A DDS Router is configured by a .yaml configuration file. This .yaml file contains all the information regarding the DDS Router configuration, such as topics filtering and Participants configurations.
3.1. Configuration version¶
The YAML Configuration supports a version value to identify the configuration version to parse the file.
In future releases the YAML format (some key words, fields, etc.) may change.
This value allows users to keep using the same YAML file with an old configuration format, maintaining compatibility with future releases.
The current configuration version is v4.0. This is the configuration version that is described along this page.
Note
The current default version when the tag version is not set is v4.0.
Warning
Deprecation warning. Update to version v4.0 since previous v3.1 is no longer supported.
3.2. Load XML Configuration¶
Fast DDS supports configuration of its internal entities (DomainParticipant, DataWriter, etc.) via XML Profiles. These XML files contain different profiles that set specific QoS, and entities can be created following such profiles. These XML files can be loaded in the process by their default file name or by an environment variable. Check the Fast DDS documentation for more information.
Another way of loading these XML configurations is using the DDS Router yaml configuration.
The YAML Configuration supports a xml optional tag that contains certain options to load Fast DDS XML configurations.
XML configurations are then used to configure an XML Participant.
3.2.1. Load XML Files¶
Under the optional tag files, a list can be set with the names of files to load XML from.
3.2.2. Raw XML¶
Under the optional tag raw, an XML configuration (with the same format as an XML file) can be set as a string to be loaded.
xml:
files:
- "./xml_configuration.xml"
raw: |
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<participant profile_name="custom_participant_configuration">
<domainId>1</domainId>
<rtps></rtps>
</participant>
</profiles>
Note
The DDS Router does not modify any XML configuration in a XML Participant. However, there are some QoS that can affect performance. These QoS should be configured by the user explicitly. Check Create a Fast DDS XML Participant profile.
3.3. Topics Configuration¶
3.3.1. Built-in Topics¶
The discovery phase can be accelerated by listing topics under the builtin-topics tag.
The DDS Router will create the DataWriters and DataReaders for these topics in the DDS Router initialization.
The Topic QoS for these topics can be manually configured with a Manual Topic, a Participant Topic QoS, and a Specs Topic QoS; if a Topic QoS is not configured, it will take its default value.
The builtin-topics must specify a name and type without wildcard characters.
builtin-topics:
- name: HelloWorldTopic
type: HelloWorld
3.3.2. Topic Filtering¶
The DDS Router automatically detects the topics that are being used in a DDS Network.
The DDS Router then creates internal DDS Writers and Readers for each participant in each topic, and forwards the data published on each topic.
The DDS Router allows filtering DDS Topics to allow users to configure the DDS Topics that must be forwarded.
These data filtering rules can be configured under the allowlist and blocklist tags.
If the allowlist and blocklist are not configured, the DDS Router will forward all the data published on the topics it discovers.
If both the allowlist and blocklist are configured and a topic appears in both of them, the blocklist has priority and the topic will be blocked.
Topics are determined by the tags name (required) and type, both of which accept wildcard characters.
Note
Placing quotation marks around values in a YAML file is generally optional, but values containing wildcard characters do require single or double quotation marks.
Consider the following example:
allowlist:
- name: AllowedTopic1
type: Allowed
- name: AllowedTopic2
type: "*"
- name: HelloWorldTopic
type: HelloWorld
blocklist:
- name: "*"
type: HelloWorld
In this example, the data in the topic AllowedTopic1 with type Allowed and the data in the topic AllowedTopic2 with any type will be forwarded by the DDS Router.
The data in the topic HelloWorldTopic with type HelloWorld will be blocked, since the blocklist is blocking all topics with any name and with type HelloWorld.
3.3.3. Topic QoS¶
The following is the set of QoS that are configurable for a topic. For more information on topics, please read the Fast DDS Topic section.
Quality of Service |
Yaml tag |
Data type |
Default value |
QoS set |
|---|---|---|---|---|
Reliability |
|
bool |
|
|
Durability |
|
bool |
|
|
Ownership |
|
bool |
|
|
Partitions |
|
bool |
|
Topic with / without partitions |
Key |
|
bool |
|
Topic with / without key |
History Depth |
|
unsigned integer |
|
|
Max Transmission Rate |
|
float |
|
|
Max Reception Rate |
|
float |
|
|
Downsampling |
|
unsigned integer |
|
Warning
Manually configuring TRANSIENT_LOCAL durability may lead to incompatibility issues when the discovered reliability is BEST_EFFORT.
Please ensure to always configure the reliability when configuring the durability to avoid the issue.
3.3.3.1. History Depth¶
The history-depth tag configures the history depth of the Fast DDS internal entities.
By default, the depth of every RTPS History instance is 5000, which sets a constraint on the maximum number of samples a DDS Router instance can deliver to late joiner Readers configured with TRANSIENT_LOCAL DurabilityQosPolicyKind.
Its value should be decreased when the sample size and/or number of created endpoints (increasing with the number of topics and DDS Router participants) are big enough to cause memory exhaustion issues.
If enough memory is available, however, the history-depth could be increased to deliver a greater number of samples to late joiners.
3.3.3.2. Max Transmission Rate¶
The max-tx-rate tag limits the frequency [Hz] at which samples are sent by discarding messages transmitted before 1/max-tx-rate seconds have passed since the last sent message.
It only accepts non-negative numbers.
By default it is set to 0; it sends samples at an unlimited transmission rate.
3.3.3.3. Max Reception Rate¶
The max-rx-rate tag limits the frequency [Hz] at which samples are processed by discarding messages received before 1/max-rx-rate seconds have passed since the last processed message.
It only accepts non-negative numbers.
By default it is set to 0; it processes samples at an unlimited reception rate.
3.3.3.4. Downsampling¶
The downsampling tag reduces the sampling rate of the received data by only keeping 1 out of every n samples received (per topic), where n is the value specified under the downsampling tag.
When the max-rx-rate tag is also set, downsampling only applies to messages that have passed the max-rx-rate filter.
It only accepts positive integers.
By default it is set to 1; it accepts every message.
3.3.4. Manual Topics¶
A subset of Topic QoS can be manually configured for a specific topic under the tag topics.
The tag topics has a required name tag that accepts wildcard characters.
It also has three optional tags: a type tag that accepts wildcard characters, a qos tag with the Topic QoS that the user wants to manually configure, and a participants tag that lists the participants to which the configuration applies.
If a qos is not manually configured, it will get its value by discovery; if the participants tag is empty or non-existent, the configuration will apply to all participants.
Example of usage
topics:
- name: "temperature/*"
type: "temperature/types/*"
qos:
max-tx-rate: 15
downsampling: 2
participants:
- Participant0
- Participant1
Note
The Topic QoS configured in the Manual Topics take precedence over the Participant Topic QoS and the Specs Topic QoS.
3.4. Specs Configuration¶
The YAML Configuration supports a specs optional tag that contains certain options related with the overall configuration of the DDS Router instance to run.
The values available to configure are:
3.4.1. Number of Threads¶
specs supports a threads optional value that allows the user to set a maximum number of threads
for the internal ThreadPool.
This ThreadPool allows to limit the number of threads spawned by the application.
This improves the performance of the data transmission between Participants.
This value should be set by each user depending on each system’s characteristics.
In case this value is not set, the default number of threads used is 12.
3.4.2. Remove Unused Entities¶
specs supports a remove-unused-entities optional value that configures the deletion of unused internal entities in the DDS Router.
By default, unused internal entities are not removed.
Thus, when the DDS Router discovers a Subscriber (by default; see Discovery Trigger), the DDS Router creates entities in all of its participants, and these entities stay up even after the Subscriber disconnects.
At times it can be useful to remove the internal entities that are not being used.
Consider the following example.
Two DDS Routers are communicating through a WAN connection, when the last of the external Subscribers to which they are forwarding data disconnects.
By default, the internal entities of the DDS Routers would not be removed, so the DDS Routers would keep consuming bandwidth, even though the data is never read.
By setting the remove-unused-entities option to true, the internal entities of the DDS Router would be removed, and the DDS Routers would stop communicating and free up the bandwidth.
Warning
At the time being, the removal of unused entities is incompatible with the Transient-Local Durability QoS.
Warning
At the time being, remove-unused-entities: true is only compatible with a discovery-trigger set to reader.
Note
The remove-unused-entities option doesn’t apply to Built-in Topics since they are created before being discovered by a Participant.
3.4.3. Discovery Trigger¶
specs supports a discovery-trigger optional value that configures what type of external entity triggers the creation/removal of entities in the DDS Router.
The possible values for the discovery-trigger are:
Value |
Tag |
Description |
|---|---|---|
Reader |
|
The creation/removal of readers triggers the creation/removal of internal entities. |
Writer |
|
The creation/removal of writers triggers the creation/removal of internal entities. |
Any |
|
The creation/removal of readers or writers triggers the creation/removal of internal entities. |
None |
|
The creation/removal of external readers or writers doesn’t trigger the creation/removal of internal entities. |
Warning
When the DDS Router creates internal entities triggered by the discovery of a writer (i.e. the discovery-trigger is either writer or any), the DDS Router will create its internal entities with the writer’s Topic QoS, and, therefore, the QoS of the communication between the external entities and the DDS Router may differ from the QoS of the communication without the DDS Router.
Warning
At the time being, remove-unused-entities set to true is only compatible with a discovery-trigger: reader.
3.4.4. QoS¶
specs supports a qos optional tag to configure the default values of the Topic QoS.
Note
The Topic QoS configured in specs can be overwritten by the Participant Topic QoS and the Manual Topics.
3.4.5. Logging¶
specs supports a logging optional tag to configure the DDS Router logs.
Under the logging tag, users can configure the type of logs to display and filter the logs based on their content and category.
When configuring the verbosity to info, all types of logs, including informational messages, warnings, and errors, will be displayed.
Conversely, setting it to warning will only show warnings and errors, while choosing error will exclusively display errors.
By default, the filter allows all errors to be displayed, while selectively permitting warning and informational messages from DDSROUTER category.
logging:
verbosity: info
filter:
error: "DDSPIPE|DDSROUTER"
warning: "DDSPIPE|DDSROUTER"
info: "DDSROUTER"
Note
Configuring the logs via the Command-Line is still active and takes precedence over YAML configuration when both methods are used simultaneously.
Logging |
Yaml tag |
Description |
Data type |
Default value |
Possible values |
|---|---|---|---|---|---|
Verbosity |
|
Show messages of equal |
enum |
|
|
Filter |
|
Regex to filter the category |
string |
info : |
Regex string |
Note
For the logs to function properly, the -DLOG_INFO=ON compilation flag is required.
The DDS Router prints the logs by default (warnings and errors in the standard error and infos in the standard output).
The DDS Router, however, can also publish the logs in a DDS topic.
To publish the logs, under the tag publish, set enable: true and set a domain and a topic-name.
The type of the logs published is defined as follows:
LogEntry.idl
const long UNDEFINED = 0x10000000;
const long SAMPLE_LOST = 0x10000001;
const long TOPIC_MISMATCH_TYPE = 0x10000002;
const long TOPIC_MISMATCH_QOS = 0x10000003;
enum Kind {
Info,
Warning,
Error
};
struct LogEntry {
@key long event;
Kind kind;
string category;
string message;
string timestamp;
};
Note
The type of the logs can be published by setting publish-type: true.
Example of usage
logging:
verbosity: info
filter:
error: "DDSPIPE|DDSROUTER"
warning: "DDSPIPE|DDSROUTER"
info: "DDSROUTER"
publish:
enable: true
domain: 84
topic-name: "DdsRouterLogs"
publish-type: false
stdout: true
3.4.6. Monitor¶
specs supports a monitor optional tag to publish internal data from the DDS Router.
If the monitor is enabled, it publishes (and logs under the MONITOR_DATA log filter) the DDS Router’s internal data on a domain, under a topic-name, once every period (in milliseconds).
If the monitor is not enabled, the DDS Router will not collect or publish any data.
Note
The data published is relative to each period. The DDS Router will reset its tracked data after publishing it.
In particular, the DDS Router will track the number of messages lost, received, and the message reception rate [Hz] of each topic. The type of the data published is defined as follows:
MonitoringTopics.idl
struct DdsTopicData
{
string participant_id;
unsigned long msgs_lost;
unsigned long msgs_received;
double msg_rx_rate;
};
struct DdsTopic
{
string name;
string type_name;
boolean type_discovered;
boolean type_mismatch;
boolean qos_mismatch;
sequence<DdsTopicData> data;
};
struct MonitoringTopics
{
sequence<DdsTopic> topics;
};
Example of usage
monitor:
topics:
enable: true
period: 1000
domain: 10
topic-name: "DdsRouterTopicData"
3.5. Participant Configuration¶
At the yaml base level, along with the builtin-topics tag, there will be the tag participants to handle an array of Participant configurations.
Each Participant is identified by a unique Participant Name and requires to set the kind of the Participant.
There can be any number of Participants, and Participant kinds can be repeated.
Each Participant has its specific configuration. Please, refer to Participant kinds in order to see each of the Participant Kinds requirements.
Warning
Do not configure two Participants in a way that they can communicate to each other (e.g. two Simple participants in the same domain). This will lead to an infinite feedback loop between each other.
In the following configuration example, the DDS Router will create two
Simple Participants, one for domain 0 and one for domain 1.
This is a typical use case of DDS Domain bridge.
The topics allowed in the two domains will start communicating to each other.
Note that the communication is not P2P performed between the end-user DDS entities,
i.e. the data must reach the DDS Router and this will forward the data.
participants: # Tag to introduce the participants configurations array
################
- name: Participant0 # Participant Name = Participant0
kind: local # Participant Kind = simple
domain: 0 # DomainId = 0
################
- name: my_custom_part # Participant Name = my_custom_part
kind: simple # Participant Kind = echo
domain: 1 # DomainId = 1
The first Participant Participant0 has Participant Name Participant0 and is configured to be of the simple Participant Kind, and to communicate locally in domain 0. The second Participant has Participant Name simple and it is configured to be of the simple kind and to communicate locally with domain 1.
3.5.1. Domain Id¶
Tag domain configures the Domain Id of a specific Participant.
Be aware that some Participants (e.g. Discovery Servers) do not need a Domain Id configuration.
domain: 101
3.5.2. Ignore Participant Flags¶
A set of discovery traffic filters can be defined for Simple Participants in order to add an extra level of isolation.
This configuration option can be set through the ignore-participant-flags tag:
ignore-participant-flags: no_filter # No filter (default)
# or
ignore-participant-flags: filter_different_host # Discovery traffic from another host is discarded
# or
ignore-participant-flags: filter_different_process # Discovery traffic from another process on same host is discarded
# or
ignore-participant-flags: filter_same_process # Discovery traffic from own process is discarded
# or
ignore-participant-flags: filter_different_and_same_process # Discovery traffic from own host is discarded
See Ignore Participant Flags for more information.
3.5.3. Custom Transport Descriptors¶
By default, Simple Participants are created with enabled UDP and Shared Memory transport descriptors.
The use of one or the other for communication will depend on the specific scenario, and whenever both are viable candidates, the most efficient one (Shared Memory Transport) is automatically selected.
However, a user may desire to force the use of one of the two, which can be accomplished via the transport configuration tag in Simple Participants.
transport: builtin # UDP & SHM (default)
# or
transport: udp # UDP only
# or
transport: shm # SHM only
Warning
Participants configured with transport: shm will only communicate with applications using Shared Memory Transport exclusively (with disabled UDP transport).
3.5.4. Interface Whitelist¶
Optional tag whitelist-interfaces allows to limit the network interfaces used by UDP and TCP transport.
This may be useful to only allow communication within the host (note: same can be done with Ignore Participant Flags), or in the WAN scenario one may choose to only communicate through the Ethernet or WiFi interface (when both available).
Example:
whitelist-interfaces:
- "127.0.0.1" # Localhost only
See Interface Whitelist for more information.
3.5.5. Repeater Participant¶
The optional tag repeater configures a WAN Participant as a Repeater point.
This means that this Participant will forward all the information received from its Readers to its Writers.
Check the Repeater DDS Router use case to see how the repeater Participant attribute is used.
repeater: true
Note
This tag is only supported in configuration versions above v2.0.
3.5.6. Network Address¶
Network Addresses are elements that can be configured for specific Participants. An Address is defined by:
IP: IP of the host (public IP in case of WAN communication).
Port: Port where the Participant is listening.
External Port: Public port accessible for external entities (only for TCP).
Transport Protocol:
UDPorTCP. If it is not set, it would be chosen by default depending on the Participant Kind.IP version:
v4orv6. If it is not set, it would be chosen depending on the IP string format.Domain Name: Domain’s unique name to ask the DNS server for the related IP. This field is ignored if
ipis specified.
ip: 127.0.0.1
port: 11666
external-port: 11670
transport: tcp
ip-version: v4
################
ip: 2001:4860:4860::8844 # Recognized as IPv6
port: 1616
transport: udp
################
domain: localhost # DNS call return value = 127.0.0.1
port: 33333 # Uses UDP by default
3.5.7. External Port¶
External port is used to configure a Server (Discovery Server or Initial Peers) that runs under a NAT and uses TCP transport. This value could be set in a TCP listening address to differentiate the public and the internal port. In case this value is not set, the external port is considered to be the same as the internal one. If both ports coincide, external and internal port in the network router port forwarding rules must coincide. For more information, check section External port.
3.5.8. Discovery Server GuidPrefix¶
A Discovery Server requires a DDS GuidPrefix in order for other Participants to connect to it.
Under the discovery-server-guid tag, there are several possibilities for configuring a GuidPrefix.
3.5.8.1. Discovery Server GuidPrefix by string¶
The GuidPrefix of the Discovery Server can be configured using guid tag.
Be aware of using the correct format for GuidPrefix.
That is, 12 hexadecimal numbers (lower than ff) separated with ..
discovery-server-guid:
guid: "1.f.1.0.0.0.0.0.0.0.ca.fe" # GuidPrefix = 01.0f.01.00.00.00.00.00.00.00.ca.fe
3.5.8.2. Discovery Server GuidPrefix by Id¶
Using tag id, the GuidPrefix will be calculated arbitrarily using a default DDS Router GuidPrefix.
This default GuidPrefix is 01.0f.<id>.00.00.00.00.00.00.00.ca.fe.
Default value for id is 0.
This entry is ignored if guid is specified.
discovery-server-guid:
id: 13 # GuidPrefix = 01.0f.0d.00.00.00.00.00.00.00.ca.fe
Note
In the current version of the DDS Router only ids in the range 0 to 256 are allowed. In future releases it would be implemented to allow a wider range of ids.
3.5.8.3. ROS Discovery Server GuidPrefix¶
There is a specific GuidPrefix for ROS 2 executions which can be used with Fast DDS CLI and
ROS 2 ROS_DISCOVERY_SERVER environment variable
(https://fast-dds.docs.eprosima.com/en/v2.4.1/fastdds/ros2/discovery_server/ros2_discovery_server.html).
The ROS 2 Discovery Server GuidPrefix is set by default to 44.53.<id>.5f.45.50.52.4f.53.49.4d.41 where <id>
is the specific id of the Server.
This GuidPrefix also allows an id` value to specify which id is used in the GuidPrefix.
The default value for id is 0.
discovery-server-guid:
ros-discovery-server: true # GuidPrefix = 44.53.x.5f.45.50.52.4f.53.49.4d.41
id: 13 # GuidPrefix = 44.53.0d.5f.45.50.52.4f.53.49.4d.41
3.5.9. Listening Addresses¶
Tag listening-addresses configures the network addresses where this Participant is going to
listen for remote Participants.
listening-addresses is key for an array of Network Addresses.
listening-addresses:
- ip: 127.0.0.1 # UDP by default
port: 11667
- ip: 2001:4860:4860::8844 # Recognized as IPv6
port: 11666
external-port: 11668
transport: tcp
3.5.10. Initial Peers Connection Addresses¶
Tag connection-addresses configure a connection with one or multiple remote WAN Participants.
connection-addresses is key for an array of Network Addresses.
connection-addresses:
- ip: 127.0.0.1
port: 11666
- ip: 2001:4860:4860::8844
port: 11668
transport: tcp
3.5.11. Discovery Server Connection Addresses¶
Tag connection-addresses configure a connection with one or multiple remote Discovery Servers.
connection-addresses is the key for an array in which each element has a GuidPrefix referencing the Discovery
Server to connect with; and a tag addresses configuring the addresses of such Discovery Server.
Each element inside addresses must follow the configuration for Network Address.
connection-addresses:
- discovery-server-guid:
guid: 44.53.0d.5f.45.50.52.4f.53.49.4d.41
addresses:
- ip: 127.0.0.1
port: 11666
- discovery-server-guid:
id: 4
addresses:
- ip: 2001:4860:4860::8888
port: 11667
transport: tcp
- ip: 2001:4860:4860::8844
port: 11668
transport: tcp
3.5.12. Profile¶
Tag profile set the QoS Profile to create a specific Participant.
This profile must match with an existent profile loaded by XML.
It will use such profile for configuring the Participant.
profile: participant_custom_configuration
3.5.13. QoS¶
Participants support a qos optional tag to manually configure their Topic QoS.
Note
The Topic QoS configured for a Participant can be overwritten by the Manual Topics but take precedence over the Specs Topic QoS.
3.6. Forwarding Routes¶
The DDS Router is capable of establishing different internal routes between its participants. This feature enables users to only forward sensitive data to a set of participants.
Note
By default, when the tag routes is not set, every participant forwards the data it receives to every other participant.
3.6.1. Generic Routes¶
To configure a custom set of forwarding routes, use the tag routes followed by the destination participants for each source participant.
Note
If a participant is not listed as a source, it will forward the data it receives to every other participant.
Note
If a participant is listed as a source but it is not given any destination participants, it will not forward the data it receives to any participant.
Consider the following example with three participants: Participant0, Participant1, and Participant2.
routes:
- src: Participant0
dst:
- Participant2
- src: Participant1
Participant
Participant0will only forward the data it receives to participantParticipant2.Participant
Participant1will not forward the data it receives to any participant, since it does not have any destination participants.Participant
Participant2will forward the data it receives to every participant (Participant0andParticipant1), since it does not have a forwarding route.
Warning
A repeater participant with a route defined must add itself to its route’s destinations.
3.6.2. Topic Routes¶
Besides the generic routes just described, custom routes can also be configured for a specific topic (determined by a name and type pair).
To configure a custom set of forwarding routes for a specific topic, use the tag topic-routes.
Warning
Topic routes take precedence over generic routes. This means that when data is published on a topic with a topic route configured, the generic routes are ignored and the topic route is used.
Again, consider the following example with three participants: Participant0, Participant1, and Participant2.
topic-routes:
- name: HelloWorld
type: HelloWorld
routes:
- src: Participant1
dst:
- Participant0
- src: Participant2
When data is published in the topic HelloWorld with type HelloWorld:
Participant
Participant0will forward the data it receives to every participant, since it does not have a forwarding route.Participant
Participant1will only forward the data it receives to participantParticipant0.Participant
Participant2will not forward the data it receives to any participant, since it does not have any destination participants.
3.7. General Example¶
A complete example of all the configurations described on this page can be found below.
# Version Latest
version: v4.0
# Specifications
specs:
threads: 10
remove-unused-entities: false
discovery-trigger: reader
qos:
history-depth: 1000
max-tx-rate: 0
max-rx-rate: 20
downsampling: 3
logging:
verbosity: info
filter:
error: "DDSPIPE|DDSROUTER"
warning: "DDSPIPE|DDSROUTER"
info: "DDSROUTER"
publish:
enable: true
domain: 84
topic-name: "DdsRouterLogs"
publish-type: false
stdout: true
monitor:
topics:
enable: true
period: 1000
domain: 10
topic-name: "DdsRouterTopicStatistics"
# XML configurations to load
xml:
# Load this file as Fast DDS XML configuration
files:
- "./xml_configuration.xml"
# Load text as Fast DDS XML configuration
raw: |
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<participant profile_name="custom_participant_configuration">
<domainId>1</domainId>
<rtps></rtps>
</participant>
</profiles>
# Relay topic rt/chatter and type std_msgs::msg::dds_::String_
# Relay topic HelloWorldTopic and type HelloWorld
builtin-topics:
- name: rt/chatter
type: std_msgs::msg::dds_::String_
- name: HelloWorldTopic
type: HelloWorld
# Manually configure Topic QoS for a set of participants on a topic
topics:
- name: "temperature/*"
type: "temperature/types/*"
qos:
max-tx-rate: 15
downsampling: 2
participants:
- Participant0
- Participant1
# Do not allow ROS2 services
blocklist:
- name: "rr/*"
- name: "rq/*"
participants:
####################
# Simple DDS Participant in domain 3
- name: Participant0 # Participant Name = Participant0
kind: local # Participant Kind = local (= simple)
domain: 3 # DomainId = 3
qos:
max-rx-rate: 0 # Max Reception Rate = 0 (unlimited)
downsampling: 1 # Downsampling = 1
####################
# Simple DDS Participant in domain 7
- name: Participant1 # Participant Name = Participant1
kind: local # Participant Kind = local (= simple)
domain: 7 # DomainId = 7
qos:
max-rx-rate: 15 # Max Reception Rate = 15
####################
# Discovery Server DDS Participant with ROS GuidPrefix so a local ROS 2 Client could connect to it
# This Discovery Server will listen in ports 11600 and 11601 in localhost
- name: ServerROS2 # Participant Name = ServerROS2
kind: local-discovery-server # Participant Kind = local-discovery-server
discovery-server-guid:
id: 1
ros-discovery-server: true # ROS Discovery Server id => GuidPrefix = 44.53.01.5f.45.50.52.4f.53.49.4d.41
listening-addresses: # Local Discovery Server Listening Addresses
- ip: 127.0.0.1 # IP = localhost ; Transport = UDP (by default)
port: 11600 # Port = 11600
- ip: 127.0.0.1 # IP = localhost
port: 11601 # Port = 11601
external-port: 11602 # External Port = 11602
transport: tcp # Transport = TCP
connection-addresses:
- discovery-server-guid:
id: 2
ros-discovery-server: true
addresses:
- domain: "localhost"
port: 22000
####################
# Participant that will communicate with a DDS Router in a different LAN.
# This Participant will work as the remote DDS Router Client, so it sets the connection address of the remote one.
- name: Wan # Participant Name = Wan
kind: wan-ds # Participant Kind = Discovery Server WAN
discovery-server-guid:
id: 2 # Internal WAN Discovery Server id => GuidPrefix = 01.0f.02.00.00.00.00.00.00.00.ca.fe
connection-addresses: # WAN Discovery Server Connection Addresses
- discovery-server-guid:
id: 4 # External WAN Discovery Server id => GuidPrefix = 01.0f.04.00.00.00.00.00.00.00.ca.fe
addresses:
- ip: 8.8.8.8 # IP = 8.8.8.8
port: 11666 # Port = 11666
transport: udp # Transport = UDP
####################
# Participant that will use a user set configuration via QoS Profile.
- name: xml_participant # Participant Name = xml_participant
kind: xml
profile: custom_participant_configuration # Configure participant with this profile
# Custom generic forwarding route.
routes:
- src: Participant0
dst:
- Participant1
# Custom topic forwarding route.
topic-routes:
- name: HelloWorld
type: HelloWorld
routes:
- src: Participant1
dst:
- Participant0