Difference between revisions of "Advantech Robotic Suite/ROS DOMAIN ID"
Line 22: | Line 22: | ||
=== Set ROS_DOMAIN_ID in docker container manually === | === Set ROS_DOMAIN_ID in docker container manually === | ||
− | Step1: Open docker-compose.yml | + | '''Step1: Open docker-compose.yml''' |
<pre> | <pre> | ||
$ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name> | $ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name> | ||
$ vim docker-compose.yml | $ vim docker-compose.yml | ||
</pre> | </pre> | ||
− | Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml | + | '''Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml''' |
. | . | ||
. | . | ||
Line 36: | Line 36: | ||
. | . | ||
. | . | ||
− | Step3: Restart container for update environment variables of docker container | + | '''Step3: Restart container for update environment variables of docker container''' |
<pre> | <pre> | ||
$ cd /usr/local/Advantech/ros/container/docker | $ cd /usr/local/Advantech/ros/container/docker |
Revision as of 05:33, 31 May 2023
Contents
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, default is set 0.
Prerequisite
Please make sure that ROS2 Suite v1.3.0 or higher have been installed in your environment.
How to
Set ROS_DOMAIN_ID of the ROS2 suite application
Script for set ROS_DOMAIN_ID of the ROS2 suite application. Note: Currently, this function only supports for ROS2 humble.
$ cd /usr/local/Advantech/ros $ bash -i change-ros-domain-id.sh
Set ROS_DOMAIN_ID in host manually
Please refer to Q&A : How to set ROS_DOMAIN_ID in host
Set ROS_DOMAIN_ID in docker container manually
Step1: Open docker-compose.yml
$ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name> $ vim docker-compose.yml
Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml
.
.
.
environment:
- ROS_DOMAIN_ID=<your_domain_id>
.
.
.
Step3: Restart container for update environment variables of docker container
$ cd /usr/local/Advantech/ros/container/docker $ ./stop.sh <docker_container_name> $ ./launch.sh <docker_container_name>