2.3.2. Simple Participant

This kind 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.

2.3.2.1. 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.

2.3.2.2. Kind aliases

• simple

• local

2.3.2.3. Configuration

The main configuration of a Simple Participant is the Domain Id on which it will listen for DDS communications, which is 0 if it is not set. Check Configuration section for further details.

It also accepts the ignore-participant-flags, transport, ros2-easy-mode, whitelist-interfaces and qos tags.

2.3.2.4. Configuration Example

- name: simple_participant     # Participant Name = simple_participant
  kind: simple
  domain: 2                    # Domain Id = 2