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SUBJE= CT TO CHANGE
For eProsima Fast-DDS, an official monitoring software can be installed = to check for participants in the network or to observe network statistics.<= /p>
The monitor can be installed from the eProsima FastDDS Download site: https://www.eprosima.com/index.php/component/ars/reposit= ory/eprosima-fast-dds-monitor/eprosima-fast-dds-monitor-1-0-0
It can also be built from Git sources: https://= github.com/eProsima/Fast-DDS-monitor
Installation information can be found in https://fast-dds-monitor.readthedocs.io/en/latest/index.html fo= r Linux and Windows.
The monitor becomes (most) useful when the eProsima statistics module is=
enabled. To do so, head to the place where the Fast-DDS repository can be =
found (should be in cpm_lib/thirdparty/Fast-DDS) and change the CMakeLists.=
txt: Set FASTDDS_STATISTICS
to ON
. Then (re)insta=
ll Fast-DDS. Note: The install.sh script currently overwrites that setting =
again, so you have to install manually without it, or the Statistics Module=
won't be used!
After (re)building Fast-DDS, use build_all.bash in the software reposito= ry to rebuild the lab software as well.
If the lab is set up properly, all you need to do is start the monitor a= nd either:
If you set these monitoring instances up properly, you should see all cu= rrent DDS traffic in that part of the network, and you should be able to se= e statistics as well if you followed the rest of the guide properly. This a= llows you to inspect e.g. latency!
Even though the statistics module is now installed, it also needs to be = activated. Different methods are mentioned in https://fast-dds.docs.eprosima.com/en/v2.3.2/f= astdds/statistics/statistics.html.
For our purpose, it is enough to set:
export FASTDDS_STATISTICS=3D"HISTORY_LATENCY_TOPIC;ACKNACK_COUNT_TOPIC;DISCOVERY_TOPIC= ;PHYSICAL_DATA_TOPIC"
Be aware that this must be set everywhere where you need to see statisti= cs, e.g. when you start a (simulated) vehicle or the IPS! You might need to= modify some start.bash files by adding this line, or even dig into Deploy.= cpp in the LabControlCenter to add it.