add ros fastdds

liuxingjun · Nov 14, 2023 · c061278 · c061278
1 parent 30a8fbd
commit c061278
Showing 1 changed file with 38 additions and 0 deletions.
diff --git a/source/_posts/ros2单播组网.md b/source/_posts/ros2单播组网.md
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+---
+title: ros2单播组网
+date: 2023-11-14 13:39
+updated: 2023-11-14 13:39
+categories: ros2
+---
+在`/etc/ros/fastdds.xml`文件内增加如下内容
+```xml
+<?xml version="1.0" encoding="UTF-8"?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <participant profile_name="unicast_connection" is_default_profile="true">
+        <rtps>
+            <builtin>
+                <initialPeersList>
+                    <locator>
+                        <udpv4>
+                            <address>127.0.0.1</address>
+                        </udpv4>
+                    </locator>
+                    <locator>
+                        <udpv4>
+                            <address>172.19.0.2</address>
+                        </udpv4>
+                    </locator>
+                </initialPeersList>
+            </builtin>
+            <userTransports>
+                <transport_id>lotsOfPeers</transport_id>
+            </userTransports>
+        </rtps>
+    </participant>
+</profiles>
+```
+
+增加环境变量
+```bash
+echo 'FASTRTPS_DEFAULT_PROFILES_FILE=/etc/ros/fastdds.xml' > ~/.bashrc
+```