DDS配置

多台机器⼈需要

1. 进⼊到RMS部署⽂件夹中的的DDS配置⽂件夹

cd 部署⽂件夹/config/DDSRouter/

1. 编辑DDS配置⽂件

vim dds_router.yaml

1. ⼿动修改配置⽂件，添加机器⼈到Server

RMS侧每多⼀个机器⼈需要连接服务器都需要在builtin-topics下增加相对应的配置

 - name: {ROBOT_NAME}DDSHeartBeatRequest
 type: HeartBeatRequest
 - name: {ROBOT_NAME}DDSHeartBeatResponse
 type: HeartBeatResponse

dds_router.yaml

##################################
# CONFIGURATION VERSION
version: v4.0 
builtin-topics:
 - name: robot_state
 type: FreeFleetData::RobotState
 - name: task_result
 type: TaskResult::ResultData
 qos:
 reliability: true # Use QoS RELIABLE
 depth: 100 # Use History Depth 100
 - name: mode_request
 type: FreeFleetData::ModeRequest
 - name: path_request
 type: FreeFleetData::PathRequest
 - name: destination_request
 type: FreeFleetData::DestinationRequest
 - name: photo_task_request
 type: PhotoTask::PhotoTaskRequest
 - name: task_request
DDS v1.8.1 部署⽂档 9
 type: TaskRequest::RequestData
 qos:
 reliability: true # Use QoS RELIABLE
 depth: 1 # Use History Depth 1
 - name: DDSHeartBeatRequest
 type: HeartBeatRequest
 - name: DDSHeartBeatResponse
 type: HeartBeatResponse
 
 #*******RMS侧每多⼀个机器⼈需要连接服务器都需要增加相对应的配置*******
 - name: Q1_043DDSHeartBeatRequest
 type: HeartBeatRequest
 - name: Q1_043DDSHeartBeatResponse
 type: HeartBeatResponse
 
##################################
# PARTICIPANTS
participants:
##################################
# SIMPLE PARTICIPANT
# This participant will subscribe to topics in allowlist in do
 - name: SimpleServer #
 kind: local 
 domain: 1 
 - name: CheckServer
 kind: local
 domain: 10
 - name: EchoparticipantServer
 kind: echo
 data: true
DDS v1.8.1 部署⽂档 10
 verbose: true
 discovery: true
 - name: ParticipantServer 
 kind: wan 
 repeater: false
 listening-addresses:
 - domain: rms-server 
 port: 11777 #11666
 external-port: 11777 # 9
 transport: tcp