Ray.zheng: Created page with "= Introduction = ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical netw..."

2023-05-29T07:42:14Z

Created page with "= Introduction = ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical netw..."

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= Introduction =
ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical network is known as the Domain ID. ROS 2 nodes on the same domain can freely discover and send messages to each other, while ROS 2 nodes on different domains cannot. All ROS 2 nodes use domain ID 0 by default. To avoid interference between different groups of computers running ROS 2 on the same network, a different domain ID should be set for each group.
 
You'll have to set ROS domain ID while installation, for Advantech ROS2 Suite, you can choose a domain ID between 0 and 101.

= Prerequisite =
Please make sure that ROS2 Suite v1.3.0 or higher have been installed in your environment. 
Currently, this function only supports for ROS2 humble.

= How to =
== Set ROS_DOMAIN_ID ==
Command for set ROS_DOMAIN_ID of the ROS2 Suite application.
<pre>
$ cd /usr/local/Advantech/ros
$ bash -i change-ros-domain-id.sh
</pre>

It can also be manually set ROS_DOMAIN_ID in host or container by following steps. 
*Set ROS_DOMAIN_ID in host
Please refer to [[ROS2_Suite/Q&A#How_to_set_ROS_DOMAIN_ID_in_host|Q&A : How to set ROS_DOMAIN_ID in host]]

*Set ROS_DOMAIN_ID in docker container
Step1: open docker-compose.yml
<pre>
$ cd /usr/local/Advantech/ros/container/edge-ros2-foxy/docker-compose/<docker_container_name>
$ vim docker-compose.yml
</pre>
Step2: set ROS_DOMAIN_ID=<your_domain_id>
.
.
.
environment:
- ROS_DOMAIN_ID=<your_domain_id>
.
.
.
Step3: restart container for update environment variables of docker container
<pre>
$ cd /usr/local/Advantech/ros/container/edge-ros2-foxy
$ ./stop.sh <docker_container_name>
$ ./launch.sh <docker_container_name>
</pre>

ROS2 Suite/ros domain id - Revision history

Ray.zheng: Created page with "= Introduction = ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical netw..."