Robot Operating System - ROS 2 - Fast DDS - Discovery partitions

Communication with discovery servers can be split to create virtual partitions in the discovery information. This means that two endpoints will only know about each other if there is a shared discovery server or a network of discovery servers between them. We are going to execute an example with two independent servers. The following figure shows the architecture.

fastdds discovery --server-id 0 --udp-address 127.0.0.1 --udp-port 11811
fastdds discovery --server-id 1 --udp-address 127.0.0.1 --udp-port 11888


export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
ros2 run demo_nodes_cpp listener --ros-args --remap __node:=listener_1

export ROS_DISCOVERY_SERVER=";127.0.0.1:11888"
ros2 run demo_nodes_cpp listener --ros-args --remap __node:=listener_2

export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
ros2 run demo_nodes_cpp talker --ros-args --remap __node:=talker_1

export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
ros2 run demo_nodes_cpp talker --ros-args --remap __node:=talker_2

Fast DDS - Discovery partitions ok on Robot Operation system base on Ubuntu 24.4.1

Clip of running Fast DDS Discovery partitions

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