ros2-dashing (DDS) fastrtps in python node
Hi,
I am trying to build a test ros2 project where I have two nodes running in two different machines and communicate (publish/subscribe) with each other using DDS. I was thinking to use the default DDS implementation which I think is fastrtps. I am guessing the communication will be done via the router using Multicast (is RTPS a Multicast based protocol?).
Right now my test nodes are written in Python. Is it possible to use DDS in this Nods or do my Nodes need to be written in C++ (all the examples I found were written in C++)
If yes, is there any good Python example/Tutorial on how to do it?