Skip to content

Commit c9934c2

Browse files
juanlofer-eprosimajuanlofer-eprosima
authored
Support repeater feature in DDS (XML) participants (#520)
* Support repeater feature in DDS (XML) participants Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Apply suggestion Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> --------- Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>
1 parent 9e940a8 commit c9934c2

34 files changed

Lines changed: 47 additions & 116 deletions

‎docs/resources/examples/change_domain_allowlist.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
########################################
22
# CHANGE DOMAIN WITH ALLOWLIST EXAMPLE #
3-
######################################## # 0
3+
########################################
44

55
##################################
66
# ALLOWED TOPICS
@@ -37,8 +37,6 @@ participants:
3737
# This configuration example configures a DDS Router to listen to every message published in two different domains
3838
# and transmit those messages through the other domain.
3939

40-
# 0: Use YAML configuration version v5.0
41-
4240
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
4341

4442
# 2: Insert new topics in order to route to them.

‎docs/resources/examples/echo.yaml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -40,8 +40,6 @@ participants:
4040
# HelloWorldTopic (from Fast DDS HelloWorld) and rt/chatter from ROS2 demo_nodes, and to print the received
4141
# messages in stdout. Information regarding discovery events is also printed to stdout.
4242

43-
# 0: Use YAML configuration version v5.0
44-
4543
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
4644

4745
# 2: Insert new topics in order to route them.

‎docs/resources/examples/forwarding_routes.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
######################
22
# FORWARDING ROUTES #
3-
###################### # 0
3+
######################
44

55
##############
66
# PARTICIPANTS
@@ -72,8 +72,6 @@ topic-routes: # 11
7272
# to DDS Domain 1.
7373
# The communication is in both directions.
7474

75-
# 0: Use YAML configuration version v5.0
76-
7775
# 1: List the internal participants of the router.
7876

7977
# 2: New Participant with name <SimpleParticipant_0>.

‎docs/resources/examples/repeater_client.yaml‎

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -2,10 +2,6 @@
22
# REPEATER CLIENT EXAMPLE #
33
###########################
44

5-
##################################
6-
# CONFIGURATION VERSION
7-
version: v5.0 # 0
8-
95
##################################
106
# ALLOWED TOPICS
117
# Allowing ROS2 HelloWorld demo_nodes
@@ -46,8 +42,6 @@ participants:
4642
# The other direction of communication is also possible; receive messages at the WAN Participant and locally
4743
# publish them in domain 0.
4844

49-
# 0: Use YAML configuration version v5.0
50-
5145
# 1: Allow ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
5246
# Insert new topics in order to route them.
5347

‎docs/resources/examples/repeater_server.yaml‎

Lines changed: 2 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -2,17 +2,14 @@
22
# REPEATER SERVER EXAMPLE #
33
###########################
44

5-
##################################
6-
# CONFIGURATION VERSION
7-
version: v5.0 # 0
8-
95
##################################
106
# ALLOWED TOPICS
117
# Allowing FastDDS and ROS2 HelloWorld demo examples topics
128

139
allowlist:
14-
- name: HelloWorldTopic # 1
10+
- name: HelloWorldTopic # 1
1511
- name: rt/chatter # 2
12+
1613
##################################
1714
# PARTICIPANTS
1815
participants:
@@ -40,8 +37,6 @@ participants:
4037
# Server specifies which DDS Router starts the communication with the other, and after communication has been
4138
# established, both routers behave in the same way.
4239

43-
# 0: Use YAML configuration version v5.0
44-
4540
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
4641

4742
# 2: Insert new topics in order to route them.

‎docs/resources/examples/ros_discovery_client.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
#######################################
22
# ROS DISCOVERY SERVER CLIENT EXAMPLE #
3-
####################################### # 0
3+
#######################################
44

55
##################################
66
# ALLOWED TOPICS
@@ -42,8 +42,6 @@ participants:
4242
# The other direction of communication is also possible; receive messages at the Discovery Server and locally
4343
# publish them in domain 0.
4444

45-
# 0: Use YAML configuration version v5.0
46-
4745
# 1: Allow ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
4846
# Insert new topics in order to route them.
4947

‎docs/resources/examples/ros_discovery_server.yaml‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -42,8 +42,6 @@ participants:
4242
# The other direction of communication is also possible; receive messages at the Discovery Server and locally
4343
# publish them in domain 0.
4444

45-
# 0: Use YAML configuration version v5.0
46-
4745
# 1: Allow DDS ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
4846
# Insert new topics in order to route them.
4947

‎docs/resources/examples/wan_client.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
######################
22
# WAN CLIENT EXAMPLE #
3-
###################### # 0
3+
######################
44

55
##################################
66
# ALLOWED TOPICS
@@ -47,8 +47,6 @@ participants:
4747
# Client specifies which DDS Router starts the communication with the other, and after communication has been
4848
# established, both routers behave in the same way.
4949

50-
# 0: Use YAML configuration version v5.0
51-
5250
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
5351

5452
# 2: Insert new topics in order to route them.

‎docs/resources/examples/wan_ds_client.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
#######################################
22
# WAN DISCOVERY SERVER CLIENT EXAMPLE #
3-
####################################### # 0
3+
#######################################
44

55
##################################
66
# ALLOWED TOPICS
@@ -47,8 +47,6 @@ participants:
4747
# Client specifies which DDS Router starts the communication with the other, and after communication has been
4848
# established, both routers behave in the same way.
4949

50-
# 0: Use YAML configuration version v5.0
51-
5250
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
5351

5452
# 2: Insert new topics in order to route them.

‎docs/resources/examples/wan_ds_server.yaml‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
#######################################
22
# WAN DISCOVERY SERVER SERVER EXAMPLE #
3-
####################################### # 0
3+
#######################################
44

55
##################################
66
# ALLOWED TOPICS
@@ -44,8 +44,6 @@ participants:
4444
# Server specifies which DDS Router starts the communication with the other, and after communication has been
4545
# established, both routers behave in the same way.
4646

47-
# 0: Use YAML configuration version v5.0
48-
4947
# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
5048

5149
# 2: Insert new topics in order to route them.

0 commit comments

Comments
 (0)