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Add example for multi-host communication using fastdds #654

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Add example for multi-host communication using fastdds #654

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ec31205
Add README for fastdds multihost communication
hexu33 Mar 21, 2023
1724fa0
Add profile.xml files
hexu33 Mar 21, 2023
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41 changes: 41 additions & 0 deletions ...untime/_c_message_infrastructure/examples/ros2/fastdds_talking_on_multihosts.md
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# FASTDDS Talking on Multi-hosts

This doc is the guide for users to test fastdds channel communication on multi-hosts.

Please follow the [guide](https://fast-dds.docs.eprosima.com/en/latest/fastdds/discovery/simple.html) and you could implement your own applications and create your own `profile.xml` files to enbale multi-host communication.

As device limit, this example has only been tested on 2 docker env on a same host machine.

## Example

There are two profiles, one for data sender and the other for reciever.

After enabling lava env with FASTDDS_Backend on 2 machines following `README.md`, modify `reciever_profile.xml` and `sender_profile.xml` to make the `locator` ip address and port aligned with another machine's ip and port.

Then, please enable `reciever_profile.xml` on the machine which will be data reciever.

```
$ export FASTRTPS_DEFAULT_PROFILES_FILE=profile.xml

$ export RMW_FASTRTPS_USE_QOS_FROM_XML=1
```
Then run the test,

```
$ python test_fastdds_from_ros.py
```

And enable `sender_profile.xml` on the machine which will be data sender.


```
$ export FASTRTPS_DEFAULT_PROFILES_FILE=profile.xml

$ export RMW_FASTRTPS_USE_QOS_FROM_XML=1
```

Then run the test,

```
$ python test_fastdds_to_ros.py
```
46 changes: 46 additions & 0 deletions src/lava/magma/runtime/_c_message_infrastructure/examples/ros2/reciever_profile.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
<transport_descriptors>
<transport_descriptor>
<transport_id>TransportUDPv4</transport_id>
<type>UDPv4</type>
<non_blocking_send>true</non_blocking_send>
<maxInitialPeersRange>100</maxInitialPeersRange>
<output_port>7412</output_port>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="participant_profile_ros2" is_default_profile="true">
<rtps>
<name>profile_for_ros2_context</name>
<builtin>
<discovery_config>
<initialAnnouncements>
<count>5</count>
<period>
<nanosec>100000000</nanosec>
</period>
</initialAnnouncements>

<EDP>SIMPLE</EDP>
<simpleEDP>
<PUBWRITER_SUBREADER>false</PUBWRITER_SUBREADER>
<PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
</simpleEDP>
</discovery_config>
<initialPeersList>
<locator>
<udpv4>
<address>173.16.0.3</address>
<port>7412</port>
</udpv4>
</locator>
</initialPeersList>
</builtin>
<userTransports>
<transport_id>TransportUDPv4</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
46 changes: 46 additions & 0 deletions src/lava/magma/runtime/_c_message_infrastructure/examples/ros2/sender_profile.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
<transport_descriptors>
<transport_descriptor>
<transport_id>TransportUDPv4</transport_id>
<type>UDPv4</type>
<non_blocking_send>true</non_blocking_send>
<maxInitialPeersRange>100</maxInitialPeersRange>
<output_port>7412</output_port>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="participant_profile_ros2" is_default_profile="true">
<rtps>
<name>profile_for_ros2_context</name>
<builtin>
<discovery_config>
<initialAnnouncements>
<count>5</count>
<period>
<nanosec>100000000</nanosec>
</period>
</initialAnnouncements>

<EDP>SIMPLE</EDP>
<simpleEDP>
<PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
<PUBREADER_SUBWRITER>false</PUBREADER_SUBWRITER>
</simpleEDP>
</discovery_config>
<initialPeersList>
<locator>
<udpv4>
<address>173.16.0.2</address>
<port>7412</port>
</udpv4>
</locator>
</initialPeersList>
</builtin>
<userTransports>
<transport_id>TransportUDPv4</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>