\u00a0\u80cc\u666f<\/p>\n<\/li>\n
\u00a0\u5feb\u901f DDS \u53d1\u73b0\u670d\u52a1\u5668 v2<\/p>\n<\/li>\n
\u00a0\u5148\u51b3\u6761\u4ef6<\/p>\n<\/li>\n
\u00a0\u8fd0\u884c\u6b64\u6559\u7a0b<\/p>\n
- \n
- \n
\u00a0\u8bbe\u7f6e\u53d1\u73b0\u670d\u52a1\u5668<\/p>\n<\/li>\n
- \n
\u00a0\u542f\u52a8\u76d1\u542c\u8282\u70b9<\/p>\n<\/li>\n
- \n
\u00a0\u542f\u52a8\u5bf9\u8bdd\u8282\u70b9<\/p>\n<\/li>\n
- \n
\u5c55\u793a\u53d1\u73b0\u670d\u52a1\u5668\u6267\u884c<\/p>\n<\/li>\n
- \n
\u00a0\u53ef\u89c6\u5316\u5de5\u5177\u00a0rqt_graph<\/p>\n<\/li>\n<\/ul>\n<\/li>\n
- \n
\u00a0\u9ad8\u7ea7\u7528\u4f8b<\/p>\n
- \n
- \n
\u00a0\u670d\u52a1\u5668\u5197\u4f59<\/p>\n<\/li>\n
- \n
\u00a0\u5907\u4efd\u670d\u52a1\u5668<\/p>\n<\/li>\n
- \n
\u00a0\u53d1\u73b0\u5206\u533a<\/p>\n<\/li>\n<\/ul>\n<\/li>\n
- \n
\u00a0ROS 2 \u5185\u7701<\/p>\n
- \n
- \n
\u00a0\u5b88\u62a4\u8fdb\u7a0b\u7684\u76f8\u5173\u5de5\u5177<\/p>\n<\/li>\n
- \n
\u00a0\u6ca1\u6709\u865a\u62df\u5149\u9a71\u5de5\u5177<\/p>\n<\/li>\n<\/ul>\n<\/li>\n
- \n
\u6bd4\u8f83 Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u4e0e\u7b80\u5355\u53d1\u73b0\u534f\u8bae<\/p>\n<\/li>\n<\/ul>\n
\u00a0\u80cc\u666f<\/h3>\n
\u4ece ROS 2 Eloquent Elusor \u5f00\u59cb，Fast DDS Discovery Server \u534f\u8bae\u662f\u4e00\u9879\u63d0\u4f9b\u96c6\u4e2d\u52a8\u6001\u53d1\u73b0\u673a\u5236\u7684\u529f\u80fd，\u800c\u4e0d\u662f DDS \u9ed8\u8ba4\u4f7f\u7528\u7684\u5206\u5e03\u5f0f\u673a\u5236\u3002\u672c\u6559\u7a0b\u89e3\u91ca\u4e86\u5982\u4f55\u4f7f\u7528 Fast DDS Discovery Server \u529f\u80fd\u4f5c\u4e3a\u53d1\u73b0\u901a\u4fe1\u6765\u8fd0\u884c\u4e00\u4e9b ROS 2 \u793a\u4f8b\u3002<\/p>\n
\u4e3a\u4e86\u83b7\u53d6\u6709\u5173\u53ef\u7528\u53d1\u73b0\u914d\u7f6e\u7684\u66f4\u591a\u4fe1\u606f，\u8bf7\u67e5\u770b\u4ee5\u4e0b\u6587\u6863 https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/discovery\/discovery.html \u6216\u9605\u8bfb Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u7279\u5b9a\u6587\u6863\u3002https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/discovery\/discovery_server.html#discovery-server<\/p>\n
\u7b80\u5355\u53d1\u73b0\u534f\u8bae https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/discovery\/simple.html \u662f DDS \u6807\u51c6 https:\/\/www.omg.org\/omg-dds-portal\/ \u4e2d\u5b9a\u4e49\u7684\u6807\u51c6\u534f\u8bae\u3002\u7136\u800c，\u5b83\u5728\u67d0\u4e9b\u573a\u666f\u4e2d\u5b58\u5728\u5df2\u77e5\u7684\u7f3a\u70b9\u3002<\/p>\n
- \n
- \n
\u5b83\u4e0d\u80fd\u6709\u6548\u6269\u5c55，\u56e0\u4e3a\u968f\u7740\u65b0\u8282\u70b9\u7684\u6dfb\u52a0，\u4ea4\u6362\u7684\u6570\u636e\u5305\u6570\u91cf\u663e\u8457\u589e\u52a0\u3002<\/p>\n<\/li>\n
- \n
\u5b83\u9700\u8981\u591a\u64ad\u529f\u80fd，\u4f46\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\u53ef\u80fd\u65e0\u6cd5\u53ef\u9760\u5730\u5de5\u4f5c，\u4f8b\u5982 WiFi\u3002<\/p>\n<\/li>\n<\/ul>\n
Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u63d0\u4f9b\u4e86\u4e00\u79cd\u5ba2\u6237\u7aef-\u670d\u52a1\u5668\u67b6\u6784，\u5141\u8bb8\u8282\u70b9\u4f7f\u7528\u4e2d\u95f4\u670d\u52a1\u5668\u76f8\u4e92\u8fde\u63a5\u3002\u6bcf\u4e2a\u8282\u70b9\u90fd\u5145\u5f53\u53d1\u73b0\u5ba2\u6237\u7aef，\u4e0e\u4e00\u4e2a\u6216\u591a\u4e2a\u53d1\u73b0\u670d\u52a1\u5668\u5171\u4eab\u5176\u4fe1\u606f，\u5e76\u4ece\u4e2d\u63a5\u6536\u53d1\u73b0\u4fe1\u606f\u3002\u8fd9\u51cf\u5c11\u4e86\u4e0e\u53d1\u73b0\u76f8\u5173\u7684\u7f51\u7edc\u6d41\u91cf，\u5e76\u4e14\u4e0d\u9700\u8981\u591a\u64ad\u529f\u80fd\u3002<\/p>\n
![\"1573d92953cd912f4a47ba63069d22d1.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060604-6805e04c5f99a.png\")
<\/p>\n\u8fd9\u4e9b\u53d1\u73b0\u670d\u52a1\u5668\u53ef\u4ee5\u662f\u72ec\u7acb\u7684\u3001\u91cd\u590d\u7684\u6216\u76f8\u4e92\u8fde\u63a5\u7684，\u4ee5\u4fbf\u5728\u7f51\u7edc\u4e0a\u521b\u5efa\u5197\u4f59\u5e76\u907f\u514d\u5355\u70b9\u6545\u969c\u3002<\/p>\n
\u5feb\u901f DDS \u53d1\u73b0\u670d\u52a1\u5668 v2<\/h3>\n
\u6700\u65b0\u7684 ROS 2 Foxy Fitzroy \u7248\u672c（2020 \u5e74 12 \u6708）\u5305\u542b\u4e86\u4e00\u4e2a\u65b0\u7248\u672c，\u5373 Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u7684\u7b2c 2 \u7248\u3002\u8be5\u7248\u672c\u5305\u62ec\u4e00\u4e2a\u65b0\u7684\u8fc7\u6ee4\u529f\u80fd，\u53ef\u4ee5\u8fdb\u4e00\u6b65\u51cf\u5c11\u53d1\u9001\u7684\u53d1\u73b0\u6d88\u606f\u6570\u91cf\u3002\u8be5\u7248\u672c\u4f7f\u7528\u4e0d\u540c\u8282\u70b9\u7684\u4e3b\u9898\u6765\u51b3\u5b9a\u4e24\u4e2a\u8282\u70b9\u662f\u5426\u5e0c\u671b\u901a\u4fe1，\u6216\u8005\u5b83\u4eec\u662f\u5426\u53ef\u4ee5\u4e0d\u5339\u914d（\u5373\u4e0d\u76f8\u4e92\u53d1\u73b0）\u3002\u4e0b\u56fe\u663e\u793a\u4e86\u53d1\u73b0\u6d88\u606f\u7684\u51cf\u5c11\u60c5\u51b5：<\/p>\n
![\"2350a2289f9e367dff9021621241e42e.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060604-6805e04c87e88.png\")
<\/p>\n\u8fd9\u79cd\u67b6\u6784\u5927\u5927\u51cf\u5c11\u4e86\u670d\u52a1\u5668\u548c\u5ba2\u6237\u7aef\u4e4b\u95f4\u53d1\u9001\u7684\u6d88\u606f\u6570\u91cf\u3002\u5728\u4e0b\u56fe\u4e2d，\u663e\u793a\u4e86\u5728 RMF \u8bca\u6240\u6f14\u793a https:\/\/github.com\/open-rmf\/rmf_demos#Clinic-World \u7684\u53d1\u73b0\u9636\u6bb5\u7f51\u7edc\u6d41\u91cf\u7684\u51cf\u5c11\u60c5\u51b5：<\/p>\n
![\"46339b0b10585cdc371c189b7524f3a9.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060604-6805e04cd0b00.png\")
<\/p>\n\u8981\u4f7f\u7528\u6b64\u529f\u80fd，\u53ef\u4ee5\u4f7f\u7528\u53c2\u4e0e\u8005\u7684 XML \u914d\u7f6e https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/discovery\/discovery_server.html#discovery-server \u6765\u914d\u7f6e\u53d1\u73b0\u670d\u52a1\u5668\u3002\u4e5f\u53ef\u4ee5\u4f7f\u7528\u00a0fastdds\u00a0\u5de5\u5177 https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastddscli\/cli\/cli.html#discovery \u548c\u73af\u5883\u53d8\u91cf https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/env_vars\/env_vars.html \u6765\u914d\u7f6e\u53d1\u73b0\u670d\u52a1\u5668，\u8fd9\u662f\u672c\u6559\u7a0b\u4e2d\u4f7f\u7528\u7684\u65b9\u6cd5\u3002\u6709\u5173\u53d1\u73b0\u670d\u52a1\u5668\u914d\u7f6e\u7684\u66f4\u8be6\u7ec6\u8bf4\u660e，\u8bf7\u8bbf\u95ee Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u6587\u6863\u3002<\/p>\n
\u00a0\u5148\u51b3\u6761\u4ef6<\/h3>\n
\u672c\u6559\u7a0b\u5047\u8bbe\u60a8\u5b89\u88c5 https:\/\/docs.ros.org\/en\/jazzy\/Installation.html \u4e86 ROS 2 Foxy（\u6216\u66f4\u65b0\u7248\u672c）\u3002\u5982\u679c\u60a8\u7684\u5b89\u88c5\u4f7f\u7528\u7684\u662f\u4f4e\u4e8e Foxy \u7684 ROS 2 \u7248\u672c，\u5219\u65e0\u6cd5\u4f7f\u7528\u00a0fastdds\u00a0\u5de5\u5177\u3002\u56e0\u6b64，\u4e3a\u4e86\u4f7f\u7528\u53d1\u73b0\u670d\u52a1\u5668，\u60a8\u53ef\u4ee5\u66f4\u65b0\u60a8\u7684\u5b58\u50a8\u5e93\u4ee5\u4f7f\u7528\u4e0d\u540c\u7684 Fast DDS \u7248\u672c，\u6216\u8005\u4f7f\u7528 Fast DDS XML QoS \u914d\u7f6e https:\/\/fast-dds.docs.eprosima.com\/en\/v2.1.0\/fastdds\/discovery\/discovery_server.html#discovery-server \u6765\u914d\u7f6e\u53d1\u73b0\u670d\u52a1\u5668\u3002<\/p>\n
\u8fd0\u884c\u672c\u6559\u7a0b<\/h3>\n
talker-listener\u00a0ROS 2 \u6f14\u793a\u521b\u5efa\u4e00\u4e2a\u00a0talker\u00a0\u8282\u70b9，\u8be5\u8282\u70b9\u6bcf\u79d2\u53d1\u5e03\u4e00\u6b21\u201chello world\u201d\u6d88\u606f，\u5e76\u521b\u5efa\u4e00\u4e2a\u00a0listener\u00a0\u8282\u70b9，\u8be5\u8282\u70b9\u76d1\u542c\u8fd9\u4e9b\u6d88\u606f\u3002<\/p>\n
\u901a\u8fc7\u83b7\u53d6 ROS 2 https:\/\/docs.ros.org\/en\/jazzy\/Tutorials\/Beginner-CLI-Tools\/Configuring-ROS2-Environment.html ，\u60a8\u5c06\u53ef\u4ee5\u8bbf\u95ee CLI \u5de5\u5177\u00a0fastdds\u00a0\u3002\u8be5\u5de5\u5177\u53ef\u4ee5\u8bbf\u95ee\u53d1\u73b0\u5de5\u5177 https:\/\/fast-dds.docs.eprosima.com\/en\/v2.14.3\/fastddscli\/cli\/cli.html ，\u53ef\u7528\u4e8e\u542f\u52a8\u53d1\u73b0\u670d\u52a1\u5668\u3002\u6b64\u670d\u52a1\u5668\u5c06\u7ba1\u7406\u8fde\u63a5\u5230\u5b83\u7684\u8282\u70b9\u7684\u53d1\u73b0\u8fc7\u7a0b\u3002<\/p>\n
\u00a0\u91cd\u8981<\/p>\n
\u8bf7\u52ff\u5fd8\u8bb0\u5728\u6bcf\u4e2a\u65b0\u6253\u5f00\u7684\u7ec8\u7aef\u4e2d\u6e90 ROS 2\u3002<\/p>\n
\u8bbe\u7f6e\u53d1\u73b0\u670d\u52a1\u5668<\/h4>\n
\u9996\u5148\u542f\u52a8\u4e00\u4e2a ID \u4e3a 0 \u7684\u53d1\u73b0\u670d\u52a1\u5668，\u7aef\u53e3\u4e3a 11811（\u9ed8\u8ba4\u7aef\u53e3），\u5e76\u76d1\u542c\u6240\u6709\u53ef\u7528\u63a5\u53e3\u3002<\/p>\n
\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u5e76\u8fd0\u884c：<\/p>\n
cxy@ubuntu2404-cxy:~$ fastdds discovery –server-id 0
\n### Server is running ###
\n Participant Type: SERVER
\n Security: NO
\n Server ID: 0
\n Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
\n\u00a0\u00a0Server\u00a0Addresses:\u00a0\u00a0\u00a0UDPv4:[0.0.0.0]:11811 <\/p>\n\u542f\u52a8\u76d1\u542c\u5668\u8282\u70b9<\/h4>\n
\u6267\u884c\u76d1\u542c\u5668\u6f14\u793a，\u4ee5\u76d1\u542c\u00a0\/chatter\u00a0\u4e3b\u9898\u3002<\/p>\n
\u5728\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u4e2d，\u5c06\u73af\u5883\u53d8\u91cf\u00a0ROS_DISCOVERY_SERVER\u00a0\u8bbe\u7f6e\u4e3a\u53d1\u73b0\u670d\u52a1\u5668\u7684\u4f4d\u7f6e\u3002（\u4e0d\u8981\u5fd8\u8bb0\u5728\u6bcf\u4e2a\u65b0\u7ec8\u7aef\u4e2d source ROS 2）<\/p>\n
export ROS_DISCOVERY_SERVER=127.0.0.1:11811 <\/p>\n
\u542f\u52a8\u76d1\u542c\u8282\u70b9\u3002\u4f7f\u7528\u53c2\u6570\u00a0–remap\u00a0__node:=listener_discovery_server\u00a0\u66f4\u6539\u6b64\u6559\u7a0b\u7684\u8282\u70b9\u540d\u79f0\u3002<\/p>\n
ros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener_discovery_server <\/p>\n
\u8fd9\u5c06\u521b\u5efa\u4e00\u4e2a ROS 2 \u8282\u70b9，\u8be5\u8282\u70b9\u5c06\u81ea\u52a8\u4e3a\u53d1\u73b0\u670d\u52a1\u5668\u521b\u5efa\u4e00\u4e2a\u5ba2\u6237\u7aef，\u5e76\u8fde\u63a5\u5230\u5148\u524d\u521b\u5efa\u7684\u670d\u52a1\u5668\u4ee5\u6267\u884c\u53d1\u73b0，\u800c\u4e0d\u662f\u4f7f\u7528\u591a\u64ad\u3002<\/p>\n
\u542f\u52a8 talker \u8282\u70b9<\/h4>\n
\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef，\u5e76\u50cf\u4e4b\u524d\u4e00\u6837\u8bbe\u7f6e\u00a0ROS_DISCOVERY_SERVER\u00a0\u73af\u5883\u53d8\u91cf，\u4ee5\u4fbf\u8282\u70b9\u542f\u52a8\u53d1\u73b0\u5ba2\u6237\u7aef\u3002<\/p>\n
export ROS_DISCOVERY_SERVER=127.0.0.1:11811
\n ros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker_discovery_server <\/p>\n\u60a8\u73b0\u5728\u5e94\u8be5\u770b\u5230\u8bb2\u8bdd\u8005\u53d1\u5e03\u201chello world\u201d\u6d88\u606f，\u5e76\u4e14\u542c\u4f17\u6b63\u5728\u63a5\u6536\u8fd9\u4e9b\u6d88\u606f\u3002<\/p>\n
\u6f14\u793a\u53d1\u73b0\u670d\u52a1\u5668\u6267\u884c<\/h4>\n
\u5230\u76ee\u524d\u4e3a\u6b62，\u6ca1\u6709\u8bc1\u636e\u8868\u660e\u8fd9\u4e2a\u4f8b\u5b50\u548c\u6807\u51c6\u7684\u8bf4\u8bdd\u8005-\u542c\u8005\u4f8b\u5b50\u8fd0\u884c\u5f97\u4e0d\u540c\u3002\u4e3a\u4e86\u6e05\u695a\u5730\u8bc1\u660e\u8fd9\u4e00\u70b9，\u8bf7\u8fd0\u884c\u53e6\u4e00\u4e2a\u672a\u8fde\u63a5\u5230\u53d1\u73b0\u670d\u52a1\u5668\u7684\u8282\u70b9\u3002\u5728\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u4e2d\u8fd0\u884c\u4e00\u4e2a\u65b0\u7684\u76d1\u542c\u5668（\u9ed8\u8ba4\u60c5\u51b5\u4e0b\u76d1\u542c\u00a0\/chatter\u00a0\u4e3b\u9898），\u5e76\u68c0\u67e5\u5b83\u662f\u5426\u672a\u8fde\u63a5\u5230\u5df2\u7ecf\u8fd0\u884c\u7684\u8bf4\u8bdd\u8005\u3002<\/p>\n
ros2 run demo_nodes_cpp listener –ros-args –remap __node:=simple_listener <\/p>\n
\u65b0\u7684\u76d1\u542c\u8282\u70b9\u4e0d\u5e94\u8be5\u63a5\u6536\u201chello world\u201d\u6d88\u606f\u3002<\/p>\n
\u8981\u6700\u7ec8\u9a8c\u8bc1\u4e00\u5207\u662f\u5426\u6b63\u5e38\u8fd0\u884c，\u53ef\u4ee5\u4f7f\u7528\u7b80\u5355\u53d1\u73b0\u534f\u8bae（\u9ed8\u8ba4\u7684 DDS \u5206\u5e03\u5f0f\u53d1\u73b0\u673a\u5236）\u521b\u5efa\u4e00\u4e2a\u65b0\u7684 talker \u8fdb\u884c\u53d1\u73b0\u3002<\/p>\n
ros2 run demo_nodes_cpp talker –ros-args –remap __node:=simple_talker <\/p>\n
\u73b0\u5728\u4f60\u5e94\u8be5\u770b\u5230\u00a0simple_listener\u00a0\u8282\u70b9\u63a5\u6536\u5230\u6765\u81ea\u00a0simple_talker\u00a0\u7684\u201chello world\u201d\u6d88\u606f，\u4f46\u6ca1\u6709\u63a5\u6536\u5230\u6765\u81ea\u00a0talker_discovery_server\u00a0\u7684\u5176\u4ed6\u6d88\u606f\u3002<\/p>\n
\u53ef\u89c6\u5316\u5de5\u5177\u00a0rqt_graph\u00a0<\/h4>\n
rqt_graph\u00a0\u5de5\u5177\u53ef\u7528\u4e8e\u9a8c\u8bc1\u6b64\u793a\u4f8b\u7684\u8282\u70b9\u548c\u7ed3\u6784\u3002\u8bf7\u8bb0\u4f4f，\u4e3a\u4e86\u4f7f\u7528\u00a0rqt_graph\u00a0\u4e0e\u53d1\u73b0\u670d\u52a1\u5668\u534f\u8bae（\u5373\u67e5\u770b\u00a0listener_discovery_server\u00a0\u548c\u00a0talker_discovery_server\u00a0\u8282\u70b9），\u5fc5\u987b\u5728\u542f\u52a8\u524d\u8bbe\u7f6e\u00a0ROS_DISCOVERY_SERVER\u00a0\u73af\u5883\u53d8\u91cf\u3002<\/p>\n
![\"53cdce59ab79c9811b1a60c8cb4373d4.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060605-6805e04d2063c.png\")
<\/p>\ncxy@ubuntu2404-cxy:~$ export ROS_DISCOVERY_SERVER=127.0.0.1:11811
\ncxy@ubuntu2404-cxy:~$\u00a0rqt_graph\u00a0\u00a0#\u00a0\u672a\u9690\u85cf <\/p>\n![\"d8cccf09b30a32b8a5cd5a9dab1c21e6.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060605-6805e04d66a48.png\")
<\/p>\ncxy@ubuntu2404-cxy:~$\u00a0rqt_graph\u00a0\u00a0#\u00a0\u9690\u85cfdebug <\/p>\n
\u9ad8\u7ea7\u7528\u4f8b<\/h3>\n
\u4ee5\u4e0b\u90e8\u5206\u663e\u793a\u4e86\u53d1\u73b0\u670d\u52a1\u5668\u7684\u4e0d\u540c\u529f\u80fd，\u8fd9\u4e9b\u529f\u80fd\u4f7f\u60a8\u80fd\u591f\u901a\u8fc7\u7f51\u7edc\u6784\u5efa\u4e00\u4e2a\u5f3a\u5927\u7684\u53d1\u73b0\u670d\u52a1\u5668\u3002<\/p>\n
\u00a0\u670d\u52a1\u5668\u5197\u4f59<\/h4>\n
\u901a\u8fc7\u4f7f\u7528\u00a0fastdds\u00a0\u5de5\u5177，\u53ef\u4ee5\u521b\u5efa\u591a\u4e2a\u53d1\u73b0\u670d\u52a1\u5668\u3002\u53d1\u73b0\u5ba2\u6237\u7aef（ROS \u8282\u70b9）\u53ef\u4ee5\u6839\u636e\u9700\u8981\u8fde\u63a5\u5230\u4efb\u610f\u6570\u91cf\u7684\u670d\u52a1\u5668\u3002\u8fd9\u5141\u8bb8\u62e5\u6709\u4e00\u4e2a\u5197\u4f59\u7f51\u7edc，\u5373\u4f7f\u67d0\u4e9b\u670d\u52a1\u5668\u6216\u8282\u70b9\u610f\u5916\u5173\u95ed\u4e5f\u80fd\u6b63\u5e38\u5de5\u4f5c\u3002\u4e0b\u56fe\u663e\u793a\u4e86\u63d0\u4f9b\u670d\u52a1\u5668\u5197\u4f59\u7684\u7b80\u5355\u67b6\u6784\u3002<\/p>\n
![\"0e6d21252b33b746d84e87299f4ee277.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060605-6805e04da9de6.png\")
<\/p>\n\u5728\u591a\u4e2a\u7ec8\u7aef\u4e2d，\u8fd0\u884c\u4ee5\u4e0b\u4ee3\u7801\u4ee5\u5efa\u7acb\u4e0e\u5197\u4f59\u670d\u52a1\u5668\u7684\u901a\u4fe1\u3002<\/p>\n
fastdds discovery –server-id 0 –ip-address 127.0.0.1 –port 11811
\n fastdds discovery –server-id 1 –ip-address 127.0.0.1 –port 11888 <\/p>\n–server-id\u00a0N\u00a0\u8868\u793a ID \u4e3a N \u7684\u670d\u52a1\u5668\u3002\u5728\u5f15\u7528\u5e26\u6709\u00a0ROS_DISCOVERY_SERVER\u00a0\u7684\u670d\u52a1\u5668\u65f6，\u670d\u52a1\u5668\u00a00\u00a0\u5fc5\u987b\u653e\u5728\u7b2c\u4e00\u4f4d，\u670d\u52a1\u5668\u00a01\u00a0\u5fc5\u987b\u653e\u5728\u7b2c\u4e8c\u4f4d\u3002<\/p>\n
export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
\n ros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
\n ros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener <\/p>\n\u73b0\u5728，\u5982\u679c\u5176\u4e2d\u4e00\u53f0\u670d\u52a1\u5668\u53d1\u751f\u6545\u969c，\u4ecd\u7136\u4f1a\u6709\u53d1\u73b0\u529f\u80fd\u53ef\u7528，\u8282\u70b9\u4ecd\u7136\u4f1a\u76f8\u4e92\u53d1\u73b0\u3002<\/p>\n
\u5907\u4efd\u670d\u52a1\u5668<\/h4>\n
Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u5141\u8bb8\u521b\u5efa\u5177\u6709\u5907\u4efd\u529f\u80fd\u7684\u670d\u52a1\u5668\u3002\u8fd9\u5141\u8bb8\u670d\u52a1\u5668\u5728\u5173\u95ed\u7684\u60c5\u51b5\u4e0b\u6062\u590d\u5176\u4fdd\u5b58\u7684\u6700\u540e\u72b6\u6001\u3002<\/p>\n
![\"66e55978e875ccc659205fc2bce210d9.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060605-6805e04dd602d.png\")
<\/p>\n\u5728\u4e0d\u540c\u7684\u7ec8\u7aef\u4e0a\u8fd0\u884c\u4ee5\u4e0b\u4ee3\u7801，\u4ee5\u4e0e\u5907\u4efd\u670d\u52a1\u5668\u5efa\u7acb\u901a\u4fe1\u3002<\/p>\n
fastdds discovery –server-id 0 –ip-address 127.0.0.1 –port 11811 –backup
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\n ros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\n ros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener <\/p>\n\u5728\u53d1\u73b0\u670d\u52a1\u5668\u7684\u5de5\u4f5c\u76ee\u5f55（\u542f\u52a8\u65f6\u7684\u76ee\u5f55）\u4e2d\u521b\u5efa\u4e86\u51e0\u4e2a\u5907\u4efd\u6587\u4ef6\u3002\u4e24\u4e2a\u00a0SQLite\u00a0\u6587\u4ef6\u548c\u4e24\u4e2a\u00a0json\u00a0\u6587\u4ef6\u5305\u542b\u542f\u52a8\u65b0\u670d\u52a1\u5668\u548c\u6062\u590d\u5931\u8d25\u670d\u52a1\u5668\u72b6\u6001\u6240\u9700\u7684\u4fe1\u606f，\u4ee5\u9632\u6b62\u518d\u6b21\u53d1\u751f\u53d1\u73b0\u8fc7\u7a0b，\u5e76\u4e14\u4e0d\u4f1a\u4e22\u5931\u4fe1\u606f\u3002<\/p>\n
\u53d1\u73b0\u5206\u533a<\/h4>\n
\u4e0e\u53d1\u73b0\u670d\u52a1\u5668\u7684\u901a\u4fe1\u53ef\u4ee5\u5206\u5272，\u4ee5\u5728\u53d1\u73b0\u4fe1\u606f\u4e2d\u521b\u5efa\u865a\u62df\u5206\u533a\u3002\u8fd9\u610f\u5473\u7740\u53ea\u6709\u5728\u4e24\u4e2a\u7aef\u70b9\u4e4b\u95f4\u5b58\u5728\u5171\u4eab\u7684\u53d1\u73b0\u670d\u52a1\u5668\u6216\u53d1\u73b0\u670d\u52a1\u5668\u7f51\u7edc\u65f6，\u5b83\u4eec\u624d\u4f1a\u5f7c\u6b64\u4e86\u89e3\u3002\u6211\u4eec\u5c06\u6267\u884c\u4e00\u4e2a\u5177\u6709\u4e24\u4e2a\u72ec\u7acb\u670d\u52a1\u5668\u7684\u793a\u4f8b\u3002\u4e0b\u56fe\u663e\u793a\u4e86\u67b6\u6784\u3002<\/p>\n
![\"d003f7d36066283cd15aaf49b6d272bc.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060606-6805e04e0b394.png\")
<\/p>\n\u901a\u8fc7\u6b64\u67b6\u6784，\u00a0Listener\u00a01\u00a0\u5c06\u8fde\u63a5\u5230\u00a0Talker\u00a01\u00a0\u548c\u00a0Talker\u00a02\u00a0，\u56e0\u4e3a\u5b83\u4eec\u5171\u4eab\u00a0Server\u00a01\u00a0\u3002\u00a0Listener\u00a02\u00a0\u5c06\u4e0e\u00a0Talker\u00a01\u00a0\u8fde\u63a5，\u56e0\u4e3a\u5b83\u4eec\u5171\u4eab\u00a0Server\u00a02\u00a0\u3002\u4f46\u662f\u00a0Listener\u00a02\u00a0\u5c06\u4e0d\u4f1a\u542c\u5230\u6765\u81ea\u00a0Talker\u00a02\u00a0\u7684\u6d88\u606f，\u56e0\u4e3a\u5b83\u4eec\u4e0d\u5171\u4eab\u4efb\u4f55\u53d1\u73b0\u670d\u52a1\u5668\u6216\u53d1\u73b0\u670d\u52a1\u5668，\u5305\u62ec\u901a\u8fc7\u5197\u4f59\u53d1\u73b0\u670d\u52a1\u5668\u4e4b\u95f4\u7684\u8fde\u63a5\u95f4\u63a5\u5171\u4eab\u3002<\/p>\n
\u5728\u672c\u5730\u4e3b\u673a\u4e0a\u8fd0\u884c\u7b2c\u4e00\u4e2a\u76d1\u542c\u9ed8\u8ba4\u7aef\u53e3 11811 \u7684\u670d\u52a1\u5668\u3002<\/p>\n
fastdds discovery –server-id 0 –ip-address 127.0.0.1 –port 11811 <\/p>\n
\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u4e0a\u8fd0\u884c\u7b2c\u4e8c\u4e2a\u670d\u52a1\u5668，\u76d1\u542c\u672c\u5730\u4e3b\u673a\u4e0a\u7684\u53e6\u4e00\u4e2a\u7aef\u53e3，\u5728\u672c\u4f8b\u4e2d\u4e3a\u7aef\u53e3 11888\u3002<\/p>\n
fastdds discovery –server-id 1 –ip-address 127.0.0.1 –port 11888 <\/p>\n
\u73b0\u5728，\u5728\u4e0d\u540c\u7684\u7ec8\u7aef\u4e2d\u8fd0\u884c\u6bcf\u4e2a\u8282\u70b9\u3002\u4f7f\u7528\u00a0ROS_DISCOVERY_SERVER\u00a0\u73af\u5883\u53d8\u91cf\u6765\u51b3\u5b9a\u5b83\u4eec\u8fde\u63a5\u5230\u54ea\u4e2a\u670d\u52a1\u5668\u3002\u8bf7\u6ce8\u610f，ID \u5fc5\u987b\u5339\u914d\u3002<\/p>\n
export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
\nros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker_1
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"
\nros2\u00a0run\u00a0demo_nodes_cpp\u00a0listener\u00a0–ros-args\u00a0–remap\u00a0__node:=listener_1
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\nros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker_2
\n export\u00a0ROS_DISCOVERY_SERVER=";127.0.0.1:11888"
\nros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener_2 <\/p>\n\u6211\u4eec\u5e94\u8be5\u770b\u770b\u00a0Listener\u00a01\u00a0\u5982\u4f55\u4ece\u4e24\u4e2a\u5bf9\u8bdd\u8282\u70b9\u63a5\u6536\u6d88\u606f，\u800c\u00a0Listener\u00a02\u00a0\u4e0e\u00a0Talker\u00a02\u00a0\u5728\u4e0d\u540c\u7684\u5206\u533a\u4e2d，\u56e0\u6b64\u4e0d\u4f1a\u63a5\u6536\u6765\u81ea\u5b83\u7684\u6d88\u606f\u3002<\/p>\n
\u00a0\u4fbf\u6761<\/p>\n
\u4e00\u65e6\u4e24\u4e2a\u7aef\u70b9（ROS \u8282\u70b9）\u5f7c\u6b64\u53d1\u73b0，\u5b83\u4eec\u4e4b\u95f4\u5c31\u4e0d\u9700\u8981\u53d1\u73b0\u670d\u52a1\u5668\u7f51\u7edc\u6765\u76d1\u542c\u5f7c\u6b64\u7684\u6d88\u606f\u3002<\/p>\n
ROS 2 \u5185\u7701<\/h3>\n
ROS 2 \u547d\u4ee4\u884c\u754c\u9762\u652f\u6301\u591a\u79cd\u81ea\u7701\u5de5\u5177\u6765\u5206\u6790 ROS 2 \u7f51\u7edc\u7684\u884c\u4e3a\u3002\u8fd9\u4e9b\u5de5\u5177（\u5373\u00a0ros2\u00a0bag\u00a0record\u00a0\u3001\u00a0ros2\u00a0topic\u00a0list\u00a0\u7b49）\u5bf9\u4e8e\u7406\u89e3 ROS 2 \u5de5\u4f5c\u7f51\u7edc\u975e\u5e38\u6709\u5e2e\u52a9\u3002<\/p>\n
\u8fd9\u4e9b\u5de5\u5177\u5927\u591a\u4f7f\u7528 DDS \u7b80\u5355\u53d1\u73b0\u6765\u4e0e\u6bcf\u4e2a\u73b0\u6709\u53c2\u4e0e\u8005\u4ea4\u6362\u4e3b\u9898\u4fe1\u606f（\u4f7f\u7528\u7b80\u5355\u53d1\u73b0，\u7f51\u7edc\u4e2d\u7684\u6bcf\u4e2a\u53c2\u4e0e\u8005\u90fd\u76f8\u4e92\u8fde\u63a5）\u3002\u7136\u800c，\u65b0\u7684 Discovery Server v2 \u5b9e\u73b0\u4e86\u4e00\u79cd\u7f51\u7edc\u6d41\u91cf\u51cf\u5c11\u65b9\u6848，\u9650\u5236\u4e86\u4e0d\u5171\u4eab\u4e3b\u9898\u7684\u53c2\u4e0e\u8005\u4e4b\u95f4\u7684\u53d1\u73b0\u6570\u636e\u3002\u8fd9\u610f\u5473\u7740\u8282\u70b9\u53ea\u6709\u5728\u62e5\u6709\u8be5\u4e3b\u9898\u7684\u5199\u5165\u8005\u6216\u8bfb\u53d6\u8005\u65f6\u624d\u4f1a\u63a5\u6536\u8be5\u4e3b\u9898\u7684\u53d1\u73b0\u6570\u636e\u3002\u7531\u4e8e\u5927\u591a\u6570 ROS 2 CLI \u9700\u8981\u7f51\u7edc\u4e2d\u7684\u8282\u70b9（\u5176\u4e2d\u4e00\u4e9b\u4f9d\u8d56\u4e8e\u6b63\u5728\u8fd0\u884c\u7684 ROS 2 \u5b88\u62a4\u8fdb\u7a0b，\u4e00\u4e9b\u521b\u5efa\u81ea\u5df1\u7684\u8282\u70b9），\u4f7f\u7528 Discovery Server v2 \u8fd9\u4e9b\u8282\u70b9\u5c06\u4e0d\u4f1a\u62e5\u6709\u6240\u6709\u7684\u7f51\u7edc\u4fe1\u606f，\u56e0\u6b64\u5b83\u4eec\u7684\u529f\u80fd\u5c06\u53d7\u5230\u9650\u5236\u3002<\/p>\n
Discovery Server v2 \u529f\u80fd\u5141\u8bb8\u6bcf\u4e2a\u53c2\u4e0e\u8005\u4f5c\u4e3a\u8d85\u7ea7\u5ba2\u6237\u7aef\u8fd0\u884c，\u8fd9\u662f\u4e00\u79cd\u8fde\u63a5\u5230\u670d\u52a1\u5668\u7684\u5ba2\u6237\u7aef，\u4ece\u670d\u52a1\u5668\u63a5\u6536\u6240\u6709\u53ef\u7528\u7684\u53d1\u73b0\u4fe1\u606f（\u800c\u4e0d\u4ec5\u4ec5\u662f\u5b83\u9700\u8981\u7684\u4fe1\u606f）\u3002\u4ece\u8fd9\u4e2a\u610f\u4e49\u4e0a\u8bf4，ROS 2 \u5185\u7701\u5de5\u5177\u53ef\u4ee5\u914d\u7f6e\u4e3a\u8d85\u7ea7\u5ba2\u6237\u7aef，\u4ece\u800c\u80fd\u591f\u53d1\u73b0\u7f51\u7edc\u4e2d\u4f7f\u7528 Discovery Server \u534f\u8bae\u7684\u6bcf\u4e2a\u5b9e\u4f53\u3002<\/p>\n
\u00a0\u4fbf\u6761<\/p>\n
\u5728\u672c\u8282\u4e2d，\u6211\u4eec\u4f7f\u7528\u672f\u8bed\u53c2\u4e0e\u8005\u00a0Participant\u00a0\u4f5c\u4e3a DDS \u5b9e\u4f53\u3002\u6bcf\u4e2a DDS \u53c2\u4e0e\u8005\u5bf9\u5e94\u4e00\u4e2a ROS 2 \u4e0a\u4e0b\u6587，\u8fd9\u662f DDS \u4e0a\u7684 ROS 2 \u62bd\u8c61\u3002\u8282\u70b9\u662f\u4f9d\u8d56 DDS \u901a\u4fe1\u63a5\u53e3\u7684 ROS 2 \u5b9e\u4f53：\u00a0DataWriter\u00a0\u548c\u00a0DataReader\u00a0\u3002\u6bcf\u4e2a\u53c2\u4e0e\u8005\u53ef\u4ee5\u5bb9\u7eb3\u591a\u4e2a ROS 2 \u8282\u70b9\u3002\u6709\u5173\u8fd9\u4e9b\u6982\u5ff5\u7684\u66f4\u591a\u8be6\u7ec6\u4fe1\u606f，\u8bf7\u8bbf\u95ee\u8282\u70b9\u5230\u53c2\u4e0e\u8005\u6620\u5c04\u8bbe\u8ba1\u6587\u6863https:\/\/design.ros2.org\/articles\/Node_to_Participant_mapping.html \u3002<\/p>\n
\u5b88\u62a4\u8fdb\u7a0b\u7684\u76f8\u5173\u5de5\u5177\u00a0Daemon\u2019s related tools<\/h4>\n
ROS 2 \u5b88\u62a4\u8fdb\u7a0b\u7528\u4e8e\u591a\u4e2a ROS 2 CLI \u81ea\u7701\u5de5\u5177\u3002\u5b83\u521b\u5efa\u81ea\u5df1\u7684\u53c2\u4e0e\u8005\u4ee5\u5c06 ROS 2 \u8282\u70b9\u6dfb\u52a0\u5230\u7f51\u7edc\u56fe\u4e2d，\u4ee5\u63a5\u6536\u53d1\u9001\u7684\u6240\u6709\u6570\u636e\u3002\u4e3a\u4e86\u4f7f ROS 2 CLI \u5728\u4f7f\u7528\u53d1\u73b0\u670d\u52a1\u5668\u673a\u5236\u65f6\u5de5\u4f5c，\u9700\u8981\u5c06 ROS 2 \u5b88\u62a4\u8fdb\u7a0b\u914d\u7f6e\u4e3a\u8d85\u7ea7\u5ba2\u6237\u7aef\u3002\u56e0\u6b64，\u672c\u8282\u4e13\u95e8\u89e3\u91ca\u5982\u4f55\u4f7f\u7528 ROS 2 CLI \u548c\u4f5c\u4e3a\u8d85\u7ea7\u5ba2\u6237\u7aef\u8fd0\u884c\u7684 ROS 2 \u5b88\u62a4\u8fdb\u7a0b\u3002\u8fd9\u5c06\u5141\u8bb8\u5b88\u62a4\u8fdb\u7a0b\u53d1\u73b0\u6574\u4e2a\u8282\u70b9\u56fe，\u5e76\u63a5\u6536\u6240\u6709\u4e3b\u9898\u548c\u7aef\u70b9\u4fe1\u606f\u3002\u4e3a\u6b64，\u4f7f\u7528 Fast DDS XML \u914d\u7f6e\u6587\u4ef6\u6765\u914d\u7f6e ROS 2 \u5b88\u62a4\u8fdb\u7a0b\u548c CLI \u5de5\u5177\u3002<\/p>\n
\u4e0b\u9762\u4f60\u53ef\u4ee5\u627e\u5230\u4e00\u4e2a XML \u914d\u7f6e\u6587\u4ef6，\u5728\u672c\u6559\u7a0b\u4e2d\u5e94\u5c06\u5176\u4fdd\u5b58\u4e3a\u5de5\u4f5c\u76ee\u5f55\u4e2d\u7684\u00a0`super_client_configuration_file.xml`\u00a0\u6587\u4ef6\u3002\u6b64\u6587\u4ef6\u5c06\u914d\u7f6e\u6bcf\u4e2a\u4f7f\u7528\u5b83\u7684\u65b0\u53c2\u4e0e\u8005，\u4f5c\u4e3a\u8d85\u7ea7\u5ba2\u6237\u7aef\u3002<\/p>\n
<?xml version="1.0" encoding="UTF-8" ?> <!– XML\u58f0\u660e，\u7248\u672c1.0，\u7f16\u7801\u683c\u5f0fUTF-8 –>
\n <dds> <!– \u5f00\u59cb\u5b9a\u4e49dds –>
\n <profiles xmlns="http:\/\/www.eprosima.com\/XMLSchemas\/fastRTPS_Profiles"> <!– \u5b9a\u4e49profiles，xmlns\u5c5e\u6027\u5b9a\u4e49\u4e86\u5143\u7d20\u548c\u5c5e\u6027\u7684\u547d\u540d\u7a7a\u95f4 –>
\n <participant profile_name="super_client_profile" is_default_profile="true"> <!– \u5b9a\u4e49\u53c2\u4e0e\u8005，profile_name\u5c5e\u6027\u5b9a\u4e49\u4e86\u53c2\u4e0e\u8005\u7684\u540d\u79f0，is_default_profile\u5c5e\u6027\u5b9a\u4e49\u4e86\u8be5\u53c2\u4e0e\u8005\u662f\u5426\u4e3a\u9ed8\u8ba4\u53c2\u4e0e\u8005 –>
\n <rtps> <!– \u5f00\u59cb\u5b9a\u4e49rtps –>
\n <builtin> <!– \u5f00\u59cb\u5b9a\u4e49builtin –>
\n <discovery_config> <!– \u5f00\u59cb\u5b9a\u4e49discovery_config –>
\n <discoveryProtocol>SUPER_CLIENT<\/discoveryProtocol> <!– \u5b9a\u4e49\u53d1\u73b0\u534f\u8bae，\u6b64\u5904\u4e3aSUPER_CLIENT –>
\n <discoveryServersList> <!– \u5f00\u59cb\u5b9a\u4e49discoveryServersList –>
\n <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41"> <!– \u5b9a\u4e49\u8fdc\u7a0b\u670d\u52a1\u5668，prefix\u5c5e\u6027\u5b9a\u4e49\u4e86\u670d\u52a1\u5668\u7684\u524d\u7f00 –>
\n <metatrafficUnicastLocatorList> <!– \u5f00\u59cb\u5b9a\u4e49metatrafficUnicastLocatorList –>
\n <locator> <!– \u5f00\u59cb\u5b9a\u4e49locator –>
\n <udpv4> <!– \u5f00\u59cb\u5b9a\u4e49udpv4 –>
\n <address>127.0.0.1<\/address> <!– \u5b9a\u4e49\u5730\u5740，\u6b64\u5904\u4e3a127.0.0.1 –>
\n <port>11811<\/port> <!– \u5b9a\u4e49\u7aef\u53e3，\u6b64\u5904\u4e3a11811 –>
\n <\/udpv4> <!– \u7ed3\u675f\u5b9a\u4e49udpv4 –>
\n <\/locator> <!– \u7ed3\u675f\u5b9a\u4e49locator –>
\n <\/metatrafficUnicastLocatorList> <!– \u7ed3\u675f\u5b9a\u4e49metatrafficUnicastLocatorList –>
\n <\/RemoteServer> <!– \u7ed3\u675f\u5b9a\u4e49RemoteServer –>
\n <\/discoveryServersList> <!– \u7ed3\u675f\u5b9a\u4e49discoveryServersList –>
\n <\/discovery_config> <!– \u7ed3\u675f\u5b9a\u4e49discovery_config –>
\n <\/builtin> <!– \u7ed3\u675f\u5b9a\u4e49builtin –>
\n <\/rtps> <!– \u7ed3\u675f\u5b9a\u4e49rtps –>
\n <\/participant> <!– \u7ed3\u675f\u5b9a\u4e49participant –>
\n <\/profiles> <!– \u7ed3\u675f\u5b9a\u4e49profiles –>
\n\u00a0<\/dds>\u00a0\u00a0<!–\u00a0\u7ed3\u675f\u5b9a\u4e49dds\u00a0–> <\/p>\n\u00a0\u4fbf\u6761<\/p>\n
\u5728 RemoteServer \u6807\u7b7e\u4e0b，\u524d\u7f00\u5c5e\u6027\u503c\u5e94\u6839\u636e CLI \u4e0a\u4f20\u9012\u7684\u670d\u52a1\u5668 ID \u8fdb\u884c\u66f4\u65b0（\u53c2\u89c1 Fast DDS CLI）\u3002\u6240\u793a XML \u7247\u6bb5\u4e2d\u6307\u5b9a\u7684\u503c\u5bf9\u5e94\u4e8e\u503c\u4e3a 0 \u7684 ID\u3002<\/p>\n
\u9996\u5148，\u4f7f\u7528 Fast DDS CLI \u5b9e\u4f8b\u5316\u4e00\u4e2a ID \u503c\u4e3a 0 \u7684\u53d1\u73b0\u670d\u52a1\u5668\u3002<\/p>\n
fastdds discovery -i 0 -l 127.0.0.1 -p 11811 <\/p>\n
\u8fd0\u884c\u4e00\u4e2a\u5bf9\u8bdd\u5668\u548c\u4e00\u4e2a\u76d1\u542c\u5668，\u5b83\u4eec\u5c06\u901a\u8fc7\u670d\u52a1\u5668\u76f8\u4e92\u53d1\u73b0（\u6ce8\u610f\u00a0ROS_DISCOVERY_SERVER\u00a0\u914d\u7f6e\u4e0e\u00a0super_client_configuration_file.xml\u00a0\u4e2d\u7684\u914d\u7f6e\u76f8\u540c）\u3002<\/p>\n
export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\nros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\nros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker <\/p>\n\u7136\u540e，\u4f7f\u7528\u8d85\u7ea7\u5ba2\u6237\u7aef\u914d\u7f6e\u5b9e\u4f8b\u5316\u4e00\u4e2a ROS 2 \u5b88\u62a4\u8fdb\u7a0b（\u8bb0\u4f4f\u5728\u6bcf\u4e2a\u65b0\u7ec8\u7aef\u4e2d\u90fd\u8981 source ROS 2 \u5b89\u88c5）\u3002<\/p>\n
export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml
\n ros2 daemon stop
\nros2 daemon start
\nros2 topic list
\nros2 node info \/talker
\nros2 topic info \/chatter
\nros2 topic echo \/chatter
\n cxy@ubuntu2404-cxy:~$ export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml
\ncxy@ubuntu2404-cxy:~$ ros2 daemon stop
\nThe daemon is not running
\ncxy@ubuntu2404-cxy:~$ ros2 daemon start
\nThe daemon has been started
\ncxy@ubuntu2404-cxy:~$ ros2 topic list
\n\/chatter
\n\/parameter_events
\n\/rosout
\ncxy@ubuntu2404-cxy:~$ ros2 node info \/talker
\n\/talker
\n Subscribers:
\n \/parameter_events: rcl_interfaces\/msg\/ParameterEvent
\n Publishers:
\n \/chatter: std_msgs\/msg\/String
\n \/parameter_events: rcl_interfaces\/msg\/ParameterEvent
\n \/rosout: rcl_interfaces\/msg\/Log
\n Service Servers:
\n \/talker\/describe_parameters: rcl_interfaces\/srv\/DescribeParameters
\n \/talker\/get_parameter_types: rcl_interfaces\/srv\/GetParameterTypes
\n \/talker\/get_parameters: rcl_interfaces\/srv\/GetParameters
\n \/talker\/get_type_description: type_description_interfaces\/srv\/GetTypeDescription
\n \/talker\/list_parameters: rcl_interfaces\/srv\/ListParameters
\n \/talker\/set_parameters: rcl_interfaces\/srv\/SetParameters
\n \/talker\/set_parameters_atomically: rcl_interfaces\/srv\/SetParametersAtomically
\n Service Clients:<\/p>\nAction Servers:<\/p>\n
Action Clients:<\/p>\n
cxy@ubuntu2404-cxy:~$ ros2 topic info \/chatter
\nType: std_msgs\/msg\/String
\nPublisher count: 1
\nSubscription count: 1
\ncxy@ubuntu2404-cxy:~$ ros2 topic echo \/chatter
\ndata: 'Hello World: 59'
\n—
\ndata: 'Hello World: 60'
\n—
\ndata: 'Hello World: 61'
\n—
\ndata: 'Hello World: 62'
\n—
\ndata:\u00a0'Hello\u00a0World:\u00a063' <\/p>\n\u6211\u4eec\u8fd8\u53ef\u4ee5\u4f7f\u7528 ROS 2 \u5de5\u5177\u00a0rqt_graph\u00a0\u67e5\u770b\u8282\u70b9\u56fe，\u5982\u4e0b\u6240\u793a（\u60a8\u53ef\u80fd\u9700\u8981\u6309\u5237\u65b0\u6309\u94ae）：<\/p>\n
export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml
\n rqt_graph <\/p>\n![\"b6ec2aac2a4818730e1dd82baa61549f.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060606-6805e04e487ef.png\")
<\/p>\n![\"11d0c7243f29b5ff95fc7a2dd3cf1e5e.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060606-6805e04eab851.png\")
<\/p>\n\u6ca1\u6709\u5b88\u62a4\u8fdb\u7a0b\u5de5\u5177 No Daemon tools<\/h4>\n
\u6709\u4e9b ROS 2 CLI \u5de5\u5177\u4e0d\u4f7f\u7528 ROS 2 Daemon\u3002\u4e3a\u4e86\u4f7f\u8fd9\u4e9b\u5de5\u5177\u80fd\u591f\u8fde\u63a5\u5230\u53d1\u73b0\u670d\u52a1\u5668\u5e76\u63a5\u6536\u6240\u6709\u4e3b\u9898\u4fe1\u606f，\u5b83\u4eec\u9700\u8981\u88ab\u5b9e\u4f8b\u5316\u4e3a\u8fde\u63a5\u5230\u670d\u52a1\u5668\u7684\u8d85\u7ea7\u5ba2\u6237\u7aef\u3002<\/p>\n
\u6839\u636e\u4e4b\u524d\u7684\u914d\u7f6e，\u6784\u5efa\u4e00\u4e2a\u5305\u542b\u8bf4\u8bdd\u8005\u548c\u542c\u8005\u7684\u7b80\u5355\u7cfb\u7edf\u3002\u9996\u5148，\u8fd0\u884c\u4e00\u4e2a\u670d\u52a1\u5668：<\/p>\n
fastdds discovery -i 0 -l 127.0.0.1 -p 11811 <\/p>\n
\u7136\u540e，\u5728\u4e0d\u540c\u7684\u7ec8\u7aef\u4e2d\u8fd0\u884c talker \u548c listener：<\/p>\n
export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\nros2 run demo_nodes_cpp listener –ros-args –remap __node:=listener
\n export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
\nros2 run demo_nodes_cpp talker –ros-args –remap __node:=talker <\/p>\n\u7ee7\u7eed\u4f7f\u7528\u5e26\u6709\u00a0–no-daemon\u00a0\u9009\u9879\u7684\u65b0\u914d\u7f6e\u7684 ROS 2 CLI\u3002\u65b0\u8282\u70b9\u5c06\u8fde\u63a5\u5230\u73b0\u6709\u670d\u52a1\u5668，\u5e76\u5c06\u77e5\u9053\u6bcf\u4e2a\u4e3b\u9898\u3002\u4e0d\u9700\u8981\u5bfc\u51fa\u00a0ROS_DISCOVERY_SERVER\u00a0，\u56e0\u4e3a ROS 2 \u5de5\u5177\u5c06\u901a\u8fc7\u00a0FASTRTPS_DEFAULT_PROFILES_FILE\u00a0\u8fdb\u884c\u914d\u7f6e\u3002<\/p>\n
export FASTRTPS_DEFAULT_PROFILES_FILE=super_client_configuration_file.xml
\nros2 topic list –no-daemon
\nros2 node info \/talker –no-daemon –spin-time 2 <\/p>\n\u6bd4\u8f83 Fast DDS \u53d1\u73b0\u670d\u52a1\u5668\u4e0e\u7b80\u5355\u53d1\u73b0\u534f\u8bae<\/h3>\n
\u4e3a\u4e86\u6bd4\u8f83\u4f7f\u7528\u7b80\u5355\u53d1\u73b0\u534f\u8bae（\u9ed8\u8ba4\u7684 DDS \u673a\u5236\u7528\u4e8e\u5206\u5e03\u5f0f\u53d1\u73b0）\u6216\u53d1\u73b0\u670d\u52a1\u5668\u6267\u884c\u8282\u70b9，\u63d0\u4f9b\u4e86\u4e24\u4e2a\u811a\u672c\u6765\u6267\u884c\u4e00\u4e2a\u8bb2\u8ff0\u8005\u548c\u591a\u4e2a\u76d1\u542c\u5668，\u5e76\u5728\u6b64\u671f\u95f4\u5206\u6790\u7f51\u7edc\u6d41\u91cf\u3002\u5bf9\u4e8e\u8fd9\u4e2a\u5b9e\u9a8c，\u60a8\u7684\u7cfb\u7edf\u4e0a\u9700\u8981\u5b89\u88c5\u00a0tshark\u00a0\u3002\u914d\u7f6e\u6587\u4ef6\u662f\u5fc5\u9700\u7684，\u4ee5\u907f\u514d\u4f7f\u7528\u8fdb\u7a0b\u5185\u6a21\u5f0f\u3002<\/p>\n
\u00a0\u4fbf\u6761<\/p>\n
\u8fd9\u4e9b\u811a\u672c\u4ec5\u652f\u6301 Linux，\u5e76\u4e14\u9700\u8981\u4e00\u4e2a\u53d1\u73b0\u670d\u52a1\u5668\u5173\u95ed\u529f\u80fd，\u8be5\u529f\u80fd\u4ec5\u5728\u6bd4 ROS 2 Foxy \u7248\u672c\u66f4\u65b0\u7684\u7248\u672c\u4e2d\u53ef\u7528\u3002\u4e3a\u4e86\u4f7f\u7528\u6b64\u529f\u80fd，\u8bf7\u4f7f\u7528 Fast DDS v2.1.0 \u6216\u66f4\u9ad8\u7248\u672c\u7f16\u8bd1 ROS 2\u3002<\/p>\n
\u8fd9\u4e9b\u811a\u672c\u7684\u529f\u80fd\u662f\u4f9b\u9ad8\u7ea7\u7528\u9014\u53c2\u8003\u7684，\u5b66\u4e60\u7531\u7528\u6237\u81ea\u884c\u5b8c\u6210\u3002<\/p>\n
- \n
- \n
bash\u00a0network\u00a0traffic\u00a0generator<\/p>\n<\/li>\n
- \n
python3\u00a0graph\u00a0generator<\/p>\n<\/li>\n
- \n
XML\u00a0configuration<\/p>\n<\/li>\n<\/ul>\n
https:\/\/docs.ros.org\/en\/jazzy\/_downloads\/4091f7105a6c8d10b26927288ede29fc\/generate_discovery_packages.bash<\/p>\n
https:\/\/docs.ros.org\/en\/jazzy\/_downloads\/617a6849c029c43a931e24db314cb224\/discovery_packets.py<\/p>\n
https:\/\/docs.ros.org\/en\/jazzy\/_downloads\/358434c24ca02455545e1739688b839b\/no_intraprocess_configuration.xml<\/p>\n
\u8fd0\u884c bash \u811a\u672c，\u5e76\u5c06\u00a0setup.bash\u00a0\u6587\u4ef6\u7684\u8def\u5f84\u4f5c\u4e3a\u53c2\u6570\u4f20\u9012\u7ed9 ROS 2\u3002\u8fd9\u5c06\u751f\u6210\u7b80\u5355\u53d1\u73b0\u7684\u6d41\u91cf\u8ddf\u8e2a\u3002\u4f7f\u7528\u7b2c\u4e8c\u4e2a\u53c2\u6570\u00a0SERVER\u00a0\u6267\u884c\u76f8\u540c\u7684\u811a\u672c\u3002\u5b83\u5c06\u751f\u6210\u4f7f\u7528\u53d1\u73b0\u670d\u52a1\u5668\u7684\u8ddf\u8e2a\u3002<\/p>\n
\u00a0\u4fbf\u6761<\/p>\n
\u6839\u636e\u60a8\u5bf9\u00a0tcpdump\u00a0\u7684\u914d\u7f6e，\u6b64\u811a\u672c\u53ef\u80fd\u9700\u8981\u00a0sudo\u00a0\u6743\u9650\u624d\u80fd\u8bfb\u53d6\u7f51\u7edc\u8bbe\u5907\u4e0a\u7684\u6d41\u91cf\u3002<\/p>\n
\u5728\u4e24\u4e2a\u6267\u884c\u90fd\u5b8c\u6210\u540e，\u8fd0\u884c Python \u811a\u672c\u751f\u6210\u4e00\u4e2a\u7c7b\u4f3c\u4e8e\u4e0b\u9762\u7684\u56fe\u8868\u3002<\/p>\n
$ export FASTRTPS_DEFAULT_PROFILES_FILE="no_intraprocess_configuration.xml"
\n$ sudo bash generate_discovery_packages.bash ~\/ros2\/install\/local_setup.bash
\n$ sudo bash generate_discovery_packages.bash ~\/ros2\/install\/local_setup.bash SERVER
\n$ python3 discovery_packets.py <\/p>\n![\"999e41d05a648719db9dc8a8caa5b6c3.png\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421060606-6805e04eefd24.png\")
<\/p>\n\u6b64\u56fe\u662f\u5b9e\u9a8c\u7279\u5b9a\u8fd0\u884c\u7684\u7ed3\u679c\u3002\u8bfb\u8005\u53ef\u4ee5\u6267\u884c\u811a\u672c\u5e76\u751f\u6210\u81ea\u5df1\u7684\u7ed3\u679c\u8fdb\u884c\u6bd4\u8f83\u3002\u53ef\u4ee5\u5f88\u5bb9\u6613\u5730\u770b\u51fa，\u4f7f\u7528\u53d1\u73b0\u670d\u52a1\u65f6\u7f51\u7edc\u6d41\u91cf\u51cf\u5c11\u3002<\/p>\n
\u6d41\u91cf\u7684\u51cf\u5c11\u662f\u7531\u4e8e\u907f\u514d\u6bcf\u4e2a\u8282\u70b9\u5ba3\u5e03\u81ea\u5df1\u5e76\u7b49\u5f85\u7f51\u7edc\u4e0a\u6bcf\u4e2a\u5176\u4ed6\u8282\u70b9\u7684\u54cd\u5e94\u3002\u8fd9\u5728\u5927\u578b\u67b6\u6784\u4e2d\u4f1a\u4ea7\u751f\u5927\u91cf\u6d41\u91cf\u3002\u968f\u7740\u8282\u70b9\u6570\u91cf\u7684\u589e\u52a0，\u8fd9\u79cd\u65b9\u6cd5\u7684\u51cf\u5c11\u91cf\u589e\u52a0，\u4f7f\u5f97\u8fd9\u79cd\u67b6\u6784\u6bd4\u7b80\u5355\u53d1\u73b0\u534f\u8bae\u65b9\u6cd5\u66f4\u5177\u53ef\u6269\u5c55\u6027\u3002<\/p>\n
\u65b0\u7684 Fast DDS Discovery Server v2 \u81ea Fast DDS v2.0.2 \u8d77\u53ef\u7528，\u53d6\u4ee3\u4e86\u65e7\u7684\u53d1\u73b0\u670d\u52a1\u5668\u3002\u5728\u8fd9\u4e2a\u65b0\u7248\u672c\u4e2d，\u90a3\u4e9b\u4e0d\u5171\u4eab\u4e3b\u9898\u7684\u8282\u70b9\u5c06\u81ea\u52a8\u4e0d\u53d1\u73b0\u5f7c\u6b64，\u4ece\u800c\u8282\u7701\u4e86\u8fde\u63a5\u5b83\u4eec\u53ca\u5176\u7aef\u70b9\u6240\u9700\u7684\u6574\u4e2a\u53d1\u73b0\u6570\u636e\u3002\u4e0a\u9762\u7684\u5b9e\u9a8c\u6ca1\u6709\u663e\u793a\u8fd9\u79cd\u60c5\u51b5，\u4f46\u5373\u4fbf\u5982\u6b64，\u7531\u4e8e ROS 2 \u8282\u70b9\u7684\u9690\u85cf\u57fa\u7840\u8bbe\u65bd\u4e3b\u9898，\u6d41\u91cf\u7684\u5927\u5e45\u51cf\u5c11\u4ecd\u7136\u53ef\u4ee5\u88ab\u6b23\u8d4f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb2.6k\u6b21\uff0c\u70b9\u8d5e41\u6b21\uff0c\u6536\u85cf27\u6b21\u3002\u76ee\u6807\uff1a\u672c\u6559\u7a0b\u5c06\u5c55\u793a\u5982\u4f55\u4f7f\u7528 Fast DDS Discovery Server \u53d1\u73b0\u534f\u8bae\u542f\u52a8 ROS 2 \u8282\u70b9\u3002\u6559\u7a0b\u7ea7\u522b\uff1a\u9ad8\u7ea7\u65f6\u95f4\uff1a20 \u5206\u949f\u76ee\u5f55\u80cc\u666f\u5feb\u901f DDS \u53d1\u73b0\u670d\u52a1\u5668 v2\u5148\u51b3\u6761\u4ef6\u8fd0\u884c\u6b64\u6559\u7a0b\u8bbe\u7f6e\u53d1\u73b0\u670d\u52a1\u5668\u542f\u52a8\u76d1\u542c\u8282\u70b9\u542f\u52a8\u5bf9\u8bdd\u8282\u70b9\u5c55\u793a\u53d1\u73b0\u670d\u52a1\u5668\u6267\u884c\u53ef\u89c6\u5316\u5de5\u5177rqt_graph\u9ad8\u7ea7\u7528\u4f8b\u670d\u52a1\u5668\u5197\u4f59\u5907\u4efd\u670d\u52a1\u5668\u53d1\u73b0\u5206\u533aROS 2 \u5185\u7701\u5b88\u62a4\u8fdb\u7a0b\u7684\u76f8\u5173\u5de5\u5177\u6ca1\u6709\u865a\u62df\u5149…_fast dds discovery server<\/p>\n","protected":false},"author":2,"featured_media":31432,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[43,44],"topic":[],"class_list":["post-31443","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-43","tag-44"],"yoast_head":"\n
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