-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
51a2ecf
commit 5d5fad9
Showing
1 changed file
with
24 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,24 @@ | ||
## FastDDS locator identification using fastdds_statistics_backend | ||
|
||
Build docker image | ||
|
||
```bash | ||
docker build --output type=docker -t fastdds_monitor . | ||
``` | ||
|
||
Run | ||
```bash | ||
docker run --rm -it --network="host" --name=fastdds-monitor fastdds_monitor:latest | ||
``` | ||
|
||
At the initial start, there might be quite a log about the discoveries of topics and participants. | ||
|
||
After a while, every five seconds, the locators for each participant will be logged. | ||
|
||
### Ros2 node name matching | ||
|
||
Normally, the participants do not have a name in the DDS network. However, each of the ROS2 node has the default services as (`/NAMESPACE/NODE_NAME/get_parameters`). The script uses the regex below to match the ROS2 nodes' topics and participants using the first partition of the GUID. | ||
|
||
``` | ||
^DataReader_rq/(.+)/get_parametersRequest_[0-9]+\\.[0-9]+\\.[0-9]+\\.[0-9]+$ | ||
``` |