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Oct 2, 2025
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Add documentation for new automatic discovery fields #470

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8 changes: 7 additions & 1 deletion docs_versioned_docs/version-ros2jazzy/ros/config/yaml/system.mdx
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Expand Up @@ -67,17 +67,23 @@ 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:

```yaml
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
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