added setup-router

LCAS · Jan 30, 2024 · ed97b4d · ed97b4d
1 parent 8bc46a5
commit ed97b4d
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Showing 4 changed files with 34 additions and 4 deletions.
diff --git a/.devcontainer/install.sh b/.devcontainer/install.sh
@@ -14,6 +14,7 @@ vcs import < /tmp/.devcontainer/dds.repos
 #rosdep install --from-paths . -r -i -y
 cd /opt/ros/lcas
 colcon build
+colcon build --packages-select  ddsrouter_core --cmake-args -DLOG_INFO=ON
 
 
 #cd /home/lcas/ws

diff --git a/.devcontainer/setup-router.sh b/.devcontainer/setup-router.sh
@@ -0,0 +1,4 @@
+unset RMW_IMPLEMENTATION
+unset ROS_LOCALHOST_ONLY
+export FASTRTPS_DEFAULT_PROFILES_FILE=/workspaces/limo_ros2/.devcontainer/super_client_configuration_file.xml
+export ROS_DISCOVERY_SERVER=localhost:11888
diff --git a/.devcontainer/super_client_configuration_file.xml b/.devcontainer/super_client_configuration_file.xml
@@ -0,0 +1,26 @@
+<?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>127.0.0.1</address>
+                                            <port>11888</port>
+                                        </udpv4>
+                                    </locator>
+                                </metatrafficUnicastLocatorList>
+                            </RemoteServer>
+                        </discoveryServersList>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>
diff --git a/src/dds/ddsrouter-server.yaml b/src/dds/ddsrouter-server.yaml
@@ -32,15 +32,14 @@ participants:
     kind: local-discovery-server                   # 6
     discovery-server-guid:
       ros-discovery-server: true                   # 7
-      id: 1                                        # 8
+      id: 0                                        # 8
     listening-addresses:                           # 9
-      - domain: localhost                          # 10
+      - ip: 0.0.0.0                          # 10
         port: 11888                                # 11
 
   - name: WANServer                                               # 6
     kind: wan                                                     # 7
     listening-addresses:                                          # 8
-      - port: 11667                                               # 10
-        external-port: 11666
+      - port: 11666                                               # 10
         ip: "0.0.0.0"
         transport: tcp                                            # 11