37 lines
589 B
Markdown
37 lines
589 B
Markdown
# Instruction on station
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## FastRTPS
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Export discovery server configuration file:
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```bash
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export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/fastdds.xml
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```
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Export discovery server ip:
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```
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export ROS_DISCOVERY_SERVER=10.104.16.240:11811
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```
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Export fastdds ros middleware implementation:
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```
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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```
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Restart ROS 2 daemon:
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```
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ros2 daemon stop
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ros2 daemon start
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```
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## Cyclonedds
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```
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export CYCLONEDDS_URI=file://$(pwd)/cyclonedds_pc.xml
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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```
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Restart ROS 2 daemon:
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```
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ros2 daemon stop
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ros2 daemon start
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``` |