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Addition of discovery server instructions (#417)
* Create new page + images on using Fast DDS discovery server * Add example configuration files --------- Co-authored-by: Darya Clark <[email protected]> Co-authored-by: kwujciak <[email protected]> Co-authored-by: Alberto Soragna <[email protected]>
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<?xml version="1.0" encoding="UTF-8" ?> | ||
<dds> | ||
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"> | ||
<participant profile_name="super_client_profile" is_default_profile="true"> | ||
<rtps> | ||
<builtin> | ||
<discovery_config> | ||
<discoveryProtocol>SUPER_CLIENT</discoveryProtocol> | ||
<discoveryServersList> | ||
<RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41"> | ||
<metatrafficUnicastLocatorList> | ||
<locator> | ||
<udpv4> | ||
<address>VM_IP</address> | ||
<port>11811</port> | ||
</udpv4> | ||
</locator> | ||
</metatrafficUnicastLocatorList> | ||
</RemoteServer> | ||
</discoveryServersList> | ||
</discovery_config> | ||
</builtin> | ||
</rtps> | ||
</participant> | ||
</profiles> | ||
</dds> |
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# Fast DDS Discovery Server | ||
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This page gives instructions on how to use a Fast DDS discovery server with the Create® 3 robot as a client. | ||
For more information on the Fast DDS discovery server, please refer to the [eProsima documentation](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html). | ||
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*We’ll use the term "computer" to refer to any SBC (single board computer), virtual machine, personal computer, etc.* | ||
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## Configure Server | ||
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1. Start the discovery server on the computer that you wish to use as your server by replacing <SERVER_IP> with the computer's IP address. | ||
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fastdds discovery -i 0 -l <SERVER_IP> -p 11811 | ||
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![](./data/fastdds.png) | ||
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## Configure Create® 3 Robot as a Client | ||
!!! important | ||
If you have enabled the discovery server previously and wish to change the Wi-Fi network you are connected to, make sure the discovery server is disabled in the configuration settings **before** connecting it to a **new** Wi-Fi network. | ||
The discovery server can be disabled by unchecking the "Enable Fast DDS discovery server?" checkbox in the [webserver application settings](../../webserver/application/), and then saving and restarting the application. | ||
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1. Make sure your Create® 3 robot is connected to Wi-Fi. If it isn't, follow the directions [here](../provision/). | ||
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1. Navigate to the robot’s web server via its IP address. | ||
Go to [webserver application settings](../../webserver/application/) and enable the checkbox for the discovery server. | ||
In the field `Address and port of Fast DDS discovery server`, enter the IP address of your server followed by `:11811` (the default port for the Fast DDS discovery server is `11811`, but it is configurable). | ||
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1. If you intend on connecting multiple robots to the same discovery server, make sure to give the Create® 3 robot a namespace. | ||
Restart the application after saving all settings. | ||
![](./data/app-config.png) | ||
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!!! attention | ||
It is recommended you check the [logs](../../webserver/logs/) to confirm the discovery server has been enabled on the robot. ![](./data/logs.png) | ||
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## Configure Other Devices as Super Clients | ||
When using a discovery server with a Create® 3 Robot, all other devices connected to the discovery server must be set up as super clients in order to communicate with the Create® 3 Robot. | ||
Other devices could be any device that runs ROS 2 and wants to communicate with the Create® 3 Robot. | ||
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1. Before starting, stop the ROS 2 Daemon with `ros2 daemon stop`. | ||
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1. Download the .xml file found [here](data/super_client_configuration_file.xml) and replace VM_IP with your device’s IP address. | ||
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1. Navigate to your device and open terminal. If the super client and server are on the same computer, make sure to open a new terminal (separate terminal from where the server is running). | ||
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1. Assign your .xml file as your default profile by entering the following. | ||
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export FASTRTPS_DEFAULT_PROFILES_FILE=/path/to/the/xml/profile | ||
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1. Now, try looking for the Create® 3 topics list by running `ros2 topic list`. |
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