DDS-Router/docs/resources/examples/echo.yaml at 35bbae8bda364801cb5ac3c6541c4860842ba710 · eProsima/DDS-Router · GitHub

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################
# ECHO EXAMPLE #
################

##################################
# ALLOWED TOPICS
# Allowing FastDDS and ROS2 HelloWorld demo examples topics

allowlist:
  - name: HelloWorldTopic                                             # 1
  - name: rt/chatter                                                  # 2

##################################
# PARTICIPANTS
participants:

##################################
# SIMPLE PARTICIPANT
# This participant will subscribe to topics in allowlist in specific domain and listen every message published there

  - name: SimpleParticipant                                           # 3
    kind: local                                                       # 4
    domain: 0                                                         # 5

##################################
# ECHO PARTICIPANT
# This Participant will print in stdout every message received by the other Participants, as well as discovery information

  - name: EchoParticipant                                             # 6
    kind: echo                                                        # 7
    discovery: true                                                   # 8
    data: true                                                        # 9
    verbose: true                                                     # 10


##################################
# CONFIGURATION DESCRIPTION

# This configuration example configures a DDS Router to listen to every message published in domain 0 in topics
# HelloWorldTopic (from Fast DDS HelloWorld) and rt/chatter from ROS2 demo_nodes, and to print the received
# messages in stdout. Information regarding discovery events is also printed to stdout.

# 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.

# 2: Insert new topics in order to route them.

# 3: New Participant with name <SimpleParticipant>.

# 4: Kind of SimpleParticipant: <local>.
# LAN UDP communication with default simple multicast discovery.

# 5: SimpleParticipant will use DDS Domain ID <0>.

# 6: New Participant with name <EchoParticipant>.

# 7: Kind of EchoParticipant: <echo>.

# 8: Print a trace to stdout every time an Endpoint is discovered.

# 9: Print a trace to stdout every time a new data message arrives to the router.

# 10: Display verbose information regarding received messages (receiver endpoint_guid and data payload).