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RTI DDS implements different discovery mechanisms to match subscribers and publishers. We use the central RTI Cloud Discovery Service. The central server is started as part of the launch_local.bash script.

Every participant needs to know how to connect to the Cloud Discovery Service. This is handled by the CPM lib, via the command line parameter --dds_initial_peer=rtps@udpv4://<master-IP>:25598.

Trouble Shooting

The decentralized discovery mechanism is based on UDP multicast. This did not function properly in conjunction the router's WiFi. Participants on WiFi lose connection after approx. 5 minutes of operation. See https://community.rti.com/forum-topic/intermittent-data-loss-how-diagnose-datawriter-problems.

References

https://github.com/embedded-software-laboratory/cpm_lab/blob/master/cpm_lib/src/InternalConfiguration.hpp

https://github.com/embedded-software-laboratory/cpm_lab/blob/master/cpm_lib/src/ParticipantSingleton.cpp

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