# Instruction on station

## FastRTPS

Export discovery server configuration file:
```bash
export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/fastdds.xml
```

Export discovery server ip:
```
export ROS_DISCOVERY_SERVER=10.104.16.240:11811
```

Export fastdds ros middleware implementation:
```
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
```

Restart ROS 2 daemon:
```
ros2 daemon stop
ros2 daemon start
```

## Cyclonedds

```
export CYCLONEDDS_URI=file://$(pwd)/cyclonedds_pc.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
```

Restart ROS 2 daemon:
```
ros2 daemon stop
ros2 daemon start
```