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Pegasus DDS Layer

Pegasus_Schematic

Download DDS.pdf
  • ~/.zshrc configuration
ros2s(){
export ROS_DOMAIN_ID=12
export ROS_VERSION=2
export ROS_PYTHON_VERSION=3
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPSGEN_DIR=$HOME/.local/bin/
export FASTRTPS_DEFAULT_PROFILES_FILE={path_to_pegasus_dir}pegasus/pegasus_dds/BEAST_FASTRTPS_CLIENT.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export ROS_DISTRO=galactic
export LD_LIBRARY_PATH=$HOME/ros2/galactic/lib:$LD_LIBRARY_PATH
source $HOME/ros2/galactic/setup.zsh
# export ROS_DISCOVERY_SERVER=129.105.69.168:12298
}
ros2d(){
export ROS_DOMAIN_ID=12
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE={path_to_pegasus_dir}pegasus/pegasus_dds/BEAST_FASTRTPS_CLIENT.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export ROS_DISTRO=galactic
source $HOME/mihir/ros2/galactic/setup.zsh
ros2 daemon stop
ros2 daemon start
}
ros1s(){
export ROS_VERSION=1
export ROS_PYTHON_VERSION=3
export ROS_DISTRO=noetic
export LD_LIBRARY_PATH=$HOME/ros1/noetic/lib:$LD_LIBRARY_PATH
export PYTHONPATH=$HOME/ros1/noetic/lib/python2.7/dist-packages:$HOME/ros1/noetic/lib/python3/dist>
export ROS_PACKAGE_PATH=$HOME/ros1/noetic/share
export PKG_CONFIG_PATH=$HOME/ros1/noetic/lib/pkgconfig
export ROS_ROOT=$HOME/ros1/noetic/share/ros
source $HOME/ros1/noetic/setup.zsh
source $HOME/ros_ws/rosbridge_suite/devel/setup.zsh
}

Author: Mihir Patel