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Hello, I was wondering if ROS2 has an easy option to setup static discovery for RTI Connext Pro for example.

https://github.com/ros2/rmw_connext

It seems that the discovery is dynamic. Is there a possibility to give a XML file or give a list of initial peers to connect to ?


Originally posted by pokitoz on ROS Answers with karma: 527 on 2018-06-27

Post score: 2


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Comment by Lidor Shimoni on 2020-11-09:
did you manage to set up static discovery? if you did can you please share your configuration files? thanks

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There's no ROS 2 way of doing static discovery or indicating to the underlying middleware that you want to do it. You might be able to configure the underlying middleware to do it with a configuration file or something, but that will be vendor specific.


Originally posted by William with karma: 17335 on 2018-06-27

This answer was ACCEPTED on the original site

Post score: 3

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