Ref 22742. Easy mode CLI tutorial #241
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Signed-off-by: Eugenio Collado <[email protected]>
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Signed-off-by: Eugenio Collado <[email protected]>
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Signed-off-by: Eugenio Collado <[email protected]>
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| # Terminal 1 -> Host A |
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Again, if you follow the tutorial linearly, these servers will already be running. Should we stop them after each sub-section to have a "clean" setup?
| This command can be used on any server to connect it to any other server, removing the concept of master servers and enabling a fully meshed network where all | ||
| servers can communicate with each other. For example, if A connects to B and B connects to C, then A and C are also connected. |
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From my point of view, this seems to indicate that the add command is responsible of the mesh topology, which is not accurate. If A is the master and B and C connect to it, B and C will also be connected, without the need of using the add command. I would rewrite this to explain that the add command enables joining new servers to the topology without the need of restarting them or if a new master_ip wants to be used. Also, we can add the explanation of the mesh topology to the note of the Start section that details the concept of master_ip
| This can be observed as the publisher gets stuck in the "Waiting for at least one matching subscriber" state. | ||
| * Next, we will add Host B as a remote server to the Discovery Server on Host A. This establishes a connection between A and B, but Host C still does not receive any data. | ||
| * Finally, we will add Host C as a remote server to the Discovery Server on Host B. Due to the meshed network setup, Hosts A, B, and C are now fully connected. | ||
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We need to add the commands that the user must use in each terminal in order to replicate this example
| # Terminal 1 -> Host A | ||
| ROS2_EASY_MODE=$B_IP fastdds discovery start -d 1 $B_IP:1 | ||
| ROS_DOMAIN_ID=1 ROS2_EASY_MODE=$B_IP ros2 topic pub /chatter std_msgs/msg/String "{data: 'Hello world in domain 1 from HOST_A'}" --once --spin-time 2 | ||
| ROS2_EASY_MODE=$C_IP fastdds discovery set -d 1 $C_IP:1 |
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We need to handle this case in the CLI
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