ROS_DOMAIN_ID Change

[yunwool]

Dear Researchers and Developers,

I can see PX4-related ROS 2 messages even without explicitly running any ROS 2 nodes myself.
It looks like these messages are visible under ROS_DOMAIN_ID=0.
Could you please share guidance on how to change the ROS 2 domain ID for these PX4-related messages?

[ApoorvThapliyal]

Hey @yunwool
I would recommend writing export ROS_DOMAIN_ID=1 in your ~/.bashrc and then restarting all terminals so the change takes effect. This should prevent other ROS 2 messages from appearing in your environment, since you’ll effectively be using your own domain.

Optionally, you may want to look into the ROS_LOCALHOST_ONLY variable as well, since I do believe if someone else sets their domain ID to 1, you would see their messages.