3.3.2. Simple Participant

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.

3.3.2.1. Use case

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.

3.3.2.2. Type aliases

• simple

• local

3.3.2.3. Configuration

The only configuration required to start a Simple Participant is the Domain Id on which it will listen for DDS communications. Check Configuration section for further details.

3.3.2.4. Configuration Example

simple_participant:         # Participant Id = simple_participant
    type: simple
    domain: 2               # Domain Id = 2