Difference between revisions of "Advantech Robotic Suite/ROS DOMAIN ID"

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Supported Platform: x86_64
 
Supported Platform: x86_64
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= How to =
 
= How to =
  
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=== Set ROS_DOMAIN_ID of the ROS2 suite application ===
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=== Set ROS_DOMAIN_ID  ===
  
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<span style="font-size:larger;">Script for set ROS_DOMAIN_ID of the ROS2 suite application.</span>&nbsp;
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<span style="font-size:larger;">Script for set ROS_DOMAIN_ID&nbsp;</span>
 
<pre>$ cd /usr/local/Advantech/ros
 
<pre>$ cd /usr/local/Advantech/ros
 
$ ./change-ros-domain-id.sh
 
$ ./change-ros-domain-id.sh
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&nbsp;
 
&nbsp;
  
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=== Set ROS_DOMAIN_ID in host manually ===
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=== Set ROS_DOMAIN_ID by manually ===
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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]]
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<br><br>
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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]]<br/> &nbsp;
  
 
=== 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'''
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<pre>
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<pre>$ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name>
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$ cd /usr/local/Advantech/ros/container/docker/docker-compose/<docker_container_name>
 
 
$ vim docker-compose.yml
 
$ vim docker-compose.yml
 
</pre>
 
</pre>
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'''Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml'''<br>
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<span style="color:red;">Note: If you want to follow the host's ROS_DOMAIN_ID variable, please set ROS_DOMAIN_ID=${ROS_DOMAIN_ID}</span>
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'''Step2: Set ROS_DOMAIN_ID=<your_domain_id> in docker-compose.yml'''<br/> <span style="color:red;">Note: If you want to follow the host's ROS_DOMAIN_ID variable, please set ROS_DOMAIN_ID=${ROS_DOMAIN_ID}</span>
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  .
 
  .
 
  .
 
  .
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  .
 
  .
 
  .
 
  .
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'''Step3: Restart container for update environment variables of docker container'''
 
'''Step3: Restart container for update environment variables of docker container'''
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<pre>
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<pre>$ cd /usr/local/Advantech/ros/container/docker
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$ cd /usr/local/Advantech/ros/container/docker
 
 
$ ./stop.sh <docker_container_name>
 
$ ./stop.sh <docker_container_name>
 
$ ./launch.sh <docker_container_name>
 
$ ./launch.sh <docker_container_name>
 
</pre>
 
</pre>
 +
 
'''Step4: Confirm whether the variable is modified successfully in container'''
 
'''Step4: Confirm whether the variable is modified successfully in container'''
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<pre>
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<pre>$ docker exec -it <docker_container_name> bash
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$ docker exec -it <docker_container_name> bash
 
 
$ echo $ROS_DOMAIN_ID
 
$ echo $ROS_DOMAIN_ID
 
</pre>
 
</pre>

Revision as of 03:39, 2 June 2023

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.

The ROS2 Suite offers a convenient method for modifying the ROS domain ID (default is 0).


Prerequisite

Supported Version: ROS2 Suite v1.3.0 or higher.

Supported Platform: x86_64


How to

Set ROS_DOMAIN_ID 

Script for set ROS_DOMAIN_ID  

$ cd /usr/local/Advantech/ros
$ ./change-ros-domain-id.sh

Confirm whether the variable is modified successfully in host. 

$ echo $ROS_DOMAIN_ID

Confirm whether the variable is modified successfully in container. 

$ docker exec -it edge-ros2-foxy bash
$ echo $ROS_DOMAIN_ID

 

Set ROS_DOMAIN_ID by 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
Note: If you want to follow the host's ROS_DOMAIN_ID variable, please set ROS_DOMAIN_ID=${ROS_DOMAIN_ID} 

.
.
.
   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>

Step4: Confirm whether the variable is modified successfully in container 

$ docker exec -it <docker_container_name> bash
$ echo $ROS_DOMAIN_ID
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