You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
92 lines
4.2 KiB
92 lines
4.2 KiB
|
|
See the [list of topics used](../include/realdds/topics/) for a general overview of the topic structure.
|
|
|
|
|
|
# The DDS Device
|
|
|
|
A DDS device is a collection of topics on which information flows.
|
|
|
|
Specifically:
|
|
* `<topic-root>/`
|
|
* `notification` — [server notifications, responses, etc.](notifications.md)
|
|
* `control` — [client requests to server](control.md)
|
|
* `metadata` — [optional stream information](metadata.md)
|
|
* `rt/<topic-root>_` — ROS2-compatible [streams](streaming.md)
|
|
* `<stream-name>` — [Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg)/[Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) streams
|
|
|
|
|
|
## The Topic Root
|
|
|
|
Note that topics are all using the same `<topic-root>` that is specified in the [`device-info`](discovery.md). I.e., if the topic-root is known, all other topics can be found.
|
|
|
|
As long as the `<topic-root>` is a valid topic path, it can be anything and is entirely determined by [Discovery](discovery.md).
|
|
|
|
Currently, the topic root as used by `rs-dds-adapter` is built as:
|
|
> realsense/ `<device-model>` _ `<serial-number>`
|
|
|
|
|
|
## Settings
|
|
|
|
On the client, device behavior with librealsense can be fine-tuned with JSON settings passed through the participant (and therefore from the librealsense context's `dds` settings), inside a `device` object:
|
|
|
|
```JSON
|
|
{
|
|
"dds": {
|
|
"device": {
|
|
"control": { "reply-timeout-ms": 2000 },
|
|
"metadata": { "reliability": "reliable" }
|
|
}
|
|
}
|
|
}
|
|
```
|
|
|
|
The above overrides the default reply timeout to 2 seconds and makes the metadata topic use reliable QoS rather than the default `best-effort`.
|
|
|
|
#### Standard topic QoS settings
|
|
|
|
`control`, `notification`, and `metadata` topics all can have their own objects to override default QoS and other settings. See the above for an example. They all share common settings:
|
|
|
|
* `reliability` can be a string denoting the `kind`, or an object:
|
|
* `kind` is `best-effort` or `reliable`
|
|
* `durability` can be a string denoting the `kind`, or an object:
|
|
* `kind` is `volatile`, `transient-local`, `transient`, or `persistent`
|
|
* `history` can be a number denoting the `depth`, or an object:
|
|
* `kind` is `keep-last` or `keep-all`
|
|
* `depth` is the number of samples to manage with `keep-last`
|
|
* `data-sharing` is a boolean: `true` to automatically enable if needed; `false` to turn off
|
|
* `endpoint` is an object:
|
|
* `history-memory-policy` is `preallocated`, `preallocated-with-realloc`, `dynamic-reserve`, or `dynamic-reusable`
|
|
|
|
Note that these settings are **overrides**. The default values may be different depending on the topic for which they're intended (for example, `metadata` uses `best-effort` by default while `control` and `notification` use `reliable`).
|
|
|
|
#### Other Settings
|
|
|
|
| Field | Default | Type | Description |
|
|
|--------------------------|--------:|---------|--------------------|
|
|
| `control`/
|
|
| `reply-timeout-ms` | 2000 | size_t | Reply timeout, in milliseconds
|
|
|
|
#### Device Options
|
|
|
|
To use device-level options, the control-reply needs to be used.
|
|
The server publishes device options as part of the initialization sequence, in the `device-options` message.
|
|
If available, the [`query-option` and `set-option` controls](control.md#query-option--set-option) can be used (no `stream-name`) to retrieve or update the values. **Setting these options will not take effect until the device is reset.**
|
|
|
|
The following device options may be available:
|
|
|
|
| Setting | Default | Type | `option-name` | Description |
|
|
|----------------|--------:|------------------|-----------------|---------------|
|
|
| Domain ID | 0 | int, 0-232 | `domain-id` | The DDS domain number to use to segment communications on the network
|
|
| IP address | empty | string "#.#.#.#" | `ip-address` | The static IP that the server uses for itself (empty=DHCP on)
|
|
| Multicast IP | - | string "#.#.#.#" | `multicast-ip` | The IP address to use for multicasting (empty to disable)
|
|
|
|
|
|
## Continue with:
|
|
|
|
* [Notifications](notifications.md)
|
|
* [Initialization](initialization.md)
|
|
* [Control](control.md)
|
|
* [Streaming](streaming.md)
|
|
* [Metadata](metadata.md)
|
|
* [Stream Configurations](stream-configurations.md)
|