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

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######################
# XML EXAMPLE        #
######################

##################################
# XML CONFIGURATION
xml:                                                              # 1
  files:
    - "./xml_configuration.xml"                                   # 2
  raw: |                                                          # 3
    <?xml version="1.0" encoding="UTF-8" ?>
    <profiles xmlns="http://www.eprosima.com">
        <participant profile_name="custom_participant_configuration">
            <domainId>1</domainId>
            <rtps></rtps>
        </participant>
    </profiles>

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

##################################
# SIMPLE PARTICIPANT
# This participant will subscribe to topics in allowlist in domain 0 and listen every message published there

  - name: SimpleParticipant                                       # 6
    kind: local                                                   # 7
    domain: 0                                                     # 8

##################################
# WAN SERVER
# This participant will subscribe to topics in allowlist and connect to clients through Initial Peers.

  - name: XMLParticipant                                          # 9
    kind: xml                                                     # 10
    profile: custom_participant_configuration                     # 11

##################################
# 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
# to DDS Domain 1.
# The communication is in both directions.

# 1: Configure how to load XML configurations.

# 2: Load profiles from every xml file in list.

# 3: Read the next string as XML and load profiles from it.

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

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

# 6: New Participant with name <SimpleParticipant>.

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

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

# 9: New Participant with name <XMLParticipant>.

# 10: Kind of XMLParticipant: <xml>.
# XML configuration

# 11: Profile QoS to create Participant is custom_participant_configuration
# This participant will be configured following such profile QoS.
# In this case, the profile only configures the domain to be 1