ROS Discovery Server Setup

Start the Fast DDS discovery server and configure the micro‑ROS agent for centralized discovery.

networking

Configure the ROS 2 Discovery Server

Start a Fast DDS discovery server on the host, configure the micro‑ROS agent to connect to it and verify discovery connectivity.

The Fast DDS discovery server centralizes participant discovery for distributed ROS 2 systems. Use this module to start the server, update the micro‑ROS agent configuration and verify that your robot and workstation can communicate through the discovery server.

bash

fastdds discovery --server-id 0

Next, create or edit the file ~/ros2_ws/super_client_configuration_file_rcr.xml to configure the discovery server’s IP address. Replace 192.168.1.10 and 192.168.1.20 with the IPs of your server and robot respectively:

<dds>
  <participants>
    <participant name="FastDDS"
                domainId="0"
                type="dds">
      <rtps>
        <participantID>1</participantID>
        <userTransports>
          <metatrafficMulticastLocator address="192.168.1.10" port="7400"/>
          <metatrafficUnicastLocator address="192.168.1.10" port="7410"/>
          <initialPeersRange address="192.168.1.20" />
        </userTransports>
      </rtps>
    </participant>
  </participants>
</dds>

bash

SERIAL_TEENSY_DEVICE=$(find /dev/serial/by-id/ -name "usb-Teensyduino*if00" | head -1)
echo $SERIAL_TEENSY_DEVICE

bash

sudo docker run -it --rm \
  -v /dev:/dev --privileged --net=host \
  --env-file ./env.list \
  --name agent microros/micro-ros-agent:kilted \
  serial --dev ${SERIAL_TEENSY_DEVICE} -v4

Copy your updated configuration into the running container and commit it so it persists across restarts:

bash

sudo docker cp ~/ros2_ws/super_client_configuration_file_rcr.xml agent:/uros_ws/
sudo docker commit agent microros/micro-ros-agent:kilted

To verify that the server is running and discoverable, check the Fast DDS process and ping between hosts:

bash

ps aux | grep fastdds
ping 192.168.1.10

Configure the ROS 2 Discovery Server

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