From b08ea8974f51eca310980ba99b997265ab0c7074 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> Date: Mon, 15 Sep 2025 13:57:09 -0400 Subject: [PATCH] Add documentation for new automatic discovery fields Document changes from - https://github.com/clearpathrobotics/clearpath_common/pull/262 - https://github.com/clearpathrobotics/clearpath_config/pull/191 --- .../version-ros2jazzy/ros/config/yaml/system.mdx | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/system.mdx b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/system.mdx index f61e618c5..30a60961a 100644 --- a/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/system.mdx +++ b/docs_versioned_docs/version-ros2jazzy/ros/config/yaml/system.mdx @@ -67,10 +67,12 @@ Currently only the Husky A200 can use `rmw_zenoh_cpp`. Attempting to use Zenoh o | Key | Value / Datatype | Description | |:---:| :--------------: | ----------- | -| **implementation** | `rmw_fastrtps_cpp` | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp` and `rmw_zenoh_cpp`. | +| **implementation** | string | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp` and `rmw_zenoh_cpp`. | | **discovery** | `simple` or `server` | Select `simple` for simple discovery and `server` for discovery server. (Defaults to `simple`. Ignored if `implementation` is not `rmw_fastrtps_cpp`.) | | **profile** | string | Advanced feature, allows an optional custom profile to be provided - RMW Implementation / vendor specific. | | **servers** | list | Provides a list of all discovery servers in the system and whether or not the robot should connect to them. Ignored if `implementation` is not `rmw_fastrtps_cpp`.| +| **automatic_discovery_range** | string | Sets the value for the `ROS_AUTOMATIC_DISCOVERY_RANGE` environment variable. Must be one of `subnet`, `localhost`, `system_default`, or `off`. | +| **static_peers** | list | List of IP addresses or hostnames that ROS should discover nodes on. Sets the value of the `ROS_STATIC_PEERS` environment variable. | For example: @@ -78,6 +80,10 @@ For example: middleware: implementation: rmw_fastrtps_cpp discovery: simple + automatic_discovery_range: subnet + static_peers: + - 192.168.131.1 + - 192.168.131.2 profile: path/to/profile.xml servers: # This section is described further below - hostname: cpr-a200-0000