ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

ROS2: How to confirm that a DEFAULT_FASTRTPS_PROFILES.xml have been loaded and are used?

asked 2018-10-03 09:42:08 -0600

tompe17 gravatar image

I start my ros2 (bouncy) node with a LTE_DEFAULT_FASTRTPS_PROFILES.xml file that specifies a list of participant IP numbers.

My question is how can I confirm that the file is loaded? Is there a log file? And if it is loaded how can I confirm that my list of peers are the ones actually used? Is there a command to list the set of possible peers/participants?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2018-12-12 04:27:18 -0600

rgreid gravatar image

updated 2018-12-13 00:25:47 -0600

The XML file should be named DEFAULT_FASTRTPS_PROFILES.xml (drop LTE_ from the front) and it must be located in the pwd directory where you ros2 run your application. Example file:

<?xml version="1.0" encoding="UTF-8" ?> 
    <participant profile_name="participant_profile" is_default_profile="true"> 

In one terminal run sudo tcpdump -v | grep "", and in a second terminal (in the same directory) start a ros2 node, e.g. ros2 run demo_nodes_cpp talker. At minimum, you should see an ARP request like this:

14:09:06.148381 ARP, Ethernet (len 6), IPv4 (len 4), Request who-has tell, length 28

To convince yourself that DEFAULT_FASTRTPS_PROFILES.xml is being loaded, changed the IP address to a non-existent host and confirm the ARP request.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2018-10-03 09:42:08 -0600

Seen: 1,271 times

Last updated: Dec 13 '18