repeater_server.yaml

###########################
# REPEATER SERVER EXAMPLE #
###########################

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

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

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

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# WAN SERVER REPEATER
# This participant will repeat the messages that arrive to it.

  - name: RepeaterParticipant                                     # 3
    kind: wan                                                     # 4
    repeater: true                                                # 5
    listening-addresses:
      - domain: "server.domain.com"
        port: 11666
        transport: tcp

##################################
# 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 transmit these messages
# through a WAN Participant (configured as Server) to another WAN Participant.
# The other direction of communication is also possible; receive messages at the WAN Participant and locally
# publish them in domain 0.
# Server specifies which DDS Router starts the communication with the other, and after communication has been
# established, both routers behave in the same way.

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

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

# 3: New Participant with name <RepeaterParticipant>.

# 4: Kind of RepeaterParticipant: <wan>.
# WAN communication with other DDS Routers.

# 5: RepeaterParticipant will repeat messages that arrive to it to the rest of DDS Routers connected.