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hight-level-robotics-congni.../librealsense/tools/dds/dds-adapter
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Artem-Darius Weber bb2dc1e41e
feat: Определение местоположения объектов относительно RealSense и их разметка 		12 months ago
..
CMakeLists.txt feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
lrs-device-controller.cpp feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
lrs-device-controller.h feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
lrs-device-watcher.cpp feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
lrs-device-watcher.h feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
readme.md feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago
rs-dds-adapter.cpp feat: Определение местоположения объектов относительно RealSense и их разметка 12 months ago

readme.md

rs-dds-adapter tool

Goal

This tool (the server) is expected to run with a matching running client librealsense application (potentially on another machine) to demonstrate how the SDK can detect a RealSense device being connected / disconnected on the server side while Client and Server are connected via ethernet.

NOTE: librealsense (both on client and server) needs to be built with BUILD_WITH_DDS=ON CMake flag

Description

This tool will run and monitor the librealsense devices_changed callback.

If the tool detects a device dis/connection, it will notify the client using the DDS protocol.

Command Line Parameters

Flag Description Default
-h/--help Show command line help menu
-d/--domain < ID > Publish devices on domain < ID > 0

Expected Output

Assuming a running librealsense is found on the client side and network connection is stable, we expect to see prints like:

Participant discovered --> The adapter found a valid client

Device <device_name> - added --> The device was added and a matching DDS data writer was created and publish the device information.

Device <device_name> - removed --> The device was removed and a matching DDS data writer was destructed.