589 B
589 B
Instruction on station
FastRTPS
Export discovery server configuration file:
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