Revision as of 04:23, 5 March 2024

Introduction

ROS2 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. ROS2 nodes on the same domain can freely discover and send messages to each other, while ROS2 nodes on different domains cannot. All ROS2 nodes use domain ID 0 by default. To avoid interference between different groups of computers running ROS2 on the same network, a different domain ID should be set for each group.

The Robotic Development SDK offers a convenient method for modifying the ROS_DOMAIN_ID (default is 0).

Prerequisite

Supported Version: Robotic Development SDK 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