Are there examples of DEFAULT_FASTRTPS_PROFILES.xml?

asked 2018-10-30 13:47:03 -0600

MisterblueGuy
11 ●2 ●3 ●3

Configuring FastRTPS for static IP addresses and streaming seems to be to create a DEFAULT_FASTRTPS_PROFILES.xml file to specify parameters. The eProsima "ROS2 Fine Tuning" presentation from ROSCon'17[1] hints at "InitialPeers" and "metatrafficUnicastLocatorList" XML elements. I can't find any other documentation on this XML file usage. The User Guide for FastRTPS[3] has a few scattered mentions and example snippets and the XSD files in the FastRTPS github repository[2] don't even define all the fields mentioned in the presentation.

The question is, are there any complete examples of DEFAULT_FASTRTPS_PROFILES.xml usages? Say I have 3 computers with static IP addresses that can't multicast to each other. What would the XML file be?

Or, most likely, can someone point me to the documentation that I have overlooked.

[1] https://roscon.ros.org/2017/presentat...

[2] https://github.com/eProsima/Fast-RTPS

[3] https://eprosima-fast-rtps.readthedoc...

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answered 2018-11-14 09:20:03 -0600

tompe17
140 ●16 ●22 ●27

updated 2018-11-14 09:21:21 -0600

I am also looking for examples and documentation... In a discussion on discource I got the syntax for what you like to do. The file should look like this:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator/>
                </metatrafficUnicastLocatorList>
                <initialPeersList>
                    <locator>
                        <address>10.8.0.2</address>
                    </locator>
                    <locator>
                        <address>10.8.0.3</address>
                    </locator>
                    <locator>
                        <address>10.8.0.4</address>
                    </locator>
                    <locator>
                        <address>10.8.0.5</address>
                    </locator>
                    <locator>
                        <address>10.8.0.6</address>                      
                    </locator>
                    <locator>
                        <address>10.8.0.7</address>                      
                    </locator>
                    <locator>
                        <address>10.8.0.8</address>                      
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>

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This is a great start but it doesn't seem to be working for me. I'll spend some time figuring out how to get FASTRTPS to log so I can find out why I don't seem to have initial participants being set.

MisterblueGuy ( 2018-11-18 01:18:25 -0600 )edit

I found why it wasn't working for me -- the participant discovery was still working and getting tied up on different network interfaces. The fix is to add to the answer's XML <use_simple_rtps_pdp>"false"</use_simple_rtps_pdp> before the <initialpeerslist>.

MisterblueGuy ( 2018-11-29 13:52:15 -0600 )edit

Another note, if the port number is not specified in the initialPeersList locator, FastRTPS internally generates four locator entries for four possible default port numbers. The defaults are 7410, 7412, 7414, and 7416. If one has multiple domains, add 250 * domainID.

MisterblueGuy ( 2018-11-29 14:01:03 -0600 )edit

I noticed in my comment, the XML was lower-case-ified. I don't know how smart TinyXML2 is about element case, but the element tag is defined as 'use_SIMPLE_RTPS_PDP' and not all lower case.

MisterblueGuy ( 2018-11-29 14:04:18 -0600 )edit

The syntax has changed (for crystal and fasrtps 1.7.2) and is now:

<locator>
  <udpv4>
    <address>10.8.0.2</address>
  </udpv4>
</locator>

Setting use_simple_rtps_pdp to false breaks things for me, if it doesn't work, also check that you use the same domainid on both computers... (took me a couple of hours to figure that one out...)

Cyrille Berger ( 2019-05-14 01:04:30 -0600 )edit

I agree that the documentation on this feature is very limited. What about the ports? The example from the documentation indicates that we need to specify the ip-port pairs. In order to specify the port, we need to have the participant_id of the involved ROS2 members. So, my additional questions: 1) How can one define the participant ID for every computer? 2) Do we need to specify a list of all OTHER participants for a given computer (i.e. a list excluding this participant) or can all computers share the the same list, where their own IP address will be on the locator list?

Szymk1 ( 2020-10-21 09:47:06 -0600 )edit

I didn't have to specify ports, but make sure that you use the same ROS_DOMAIN_ID.

Cyrille Berger ( 2020-10-26 07:47:45 -0600 )edit

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Are there examples of DEFAULT_FASTRTPS_PROFILES.xml?

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