The latest ROS 2 included a new version, version 2 of the Fast DDS Discovery Server. This version includes a new filter feature that further reduces the number of discovery messages sent. This version uses the topic of the different nodes to decide if two nodes wish to communicate, or if they can be left unmatched (i.e. not discovering each other). The following figure shows the decrease in discovery messages:
The Fast DDS Discovery Server provides a Client-Server Architecture that allows nodes to connect with each other using an intermediate server. Each node functions as a discovery client, sharing its info with one or more discovery servers and receiving discovery information from it. This reduces discovery-related network traffic and it does not require multicasting capabilities.
Starting from ROS 2 Eloquent Elusor, the Fast DDS Discovery Server protocol is a feature that offers a centralized dynamic discovery mechanism, as opposed to the distributed mechanism used in DDS by default. This tutorial explains how to run some ROS 2 examples using the Fast DDS Discovery Server feature as discovery communication.
In order to get more information about the available discovery configuration, please check the following documentation or read the Fast DDS Discovery Server specific documentation.
The Simple Discovery Protocol is the standard protocol defined in the DDS standard. However, it has known disadvantages in some scenarios.
It does not Scale efficiently, as the number of exchanged packets increases significantly as new nodes are added.
It requires multicasting capabilities that may not work reliably in some scenarios, e.g. WiFi.
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