Difference between revisions of "Advantech Robotic Suite/ROS DOMAIN ID"
Line 16: | Line 16: | ||
=== Set ROS_DOMAIN_ID === | === Set ROS_DOMAIN_ID === | ||
− | <span style="font-size:larger;">Script | + | <span style="font-size:larger;">Script to set ROS_DOMAIN_ID in range 0~101.</span> |
<pre>$ cd /usr/local/Advantech/ros | <pre>$ cd /usr/local/Advantech/ros | ||
$ ./change-ros-domain-id.sh | $ ./change-ros-domain-id.sh |
Revision as of 05:03, 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 to set ROS_DOMAIN_ID in range 0~101.
$ 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
Note
If you want to set ROS_DOMAIN_ID in host or container by manually, Please refer to Q&A : How to set ROS_DOMAIN_ID