Bridging microdds agent and dds discovery server
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I'm finding it impossible to run ros2 nodes on multiple vehicles networked together without using the fastdds discovery server to limit traffic to unicast and cut down discovery traffic. Using the default ros2 / fast dds set-up floods the network with traffic once add a third vehicle to the network. Only problem with the discovery server is it isolates the vehicle nodes from the px4 topics exposed by the microdds agent, which I need to publish to.
Is there a way to bridge the microdds agent and nodes that are connected to a dds discovery server? The command line options for running the agent seem pretty limited (can specify discover port but not address) and it's not clear to me how the default agent discovery even works (unicast/multicast/both) and whether or not it's configurable