11. Environment variables¶
This is the list of environment variables that affect the behavior of Fast DDS:
FASTRTPS_DEFAULT_PROFILES_FILEDefines the location of the default profile configuration XML file. If this variable is set and its value corresponds with an existing file, Fast DDS will load its profiles. For more information about XML profiles, please refer to XML profiles.
Linux
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/user/profiles.xml
Windows
set FASTRTPS_DEFAULT_PROFILES_FILE=C:\profiles.xml
ROS_DISCOVERY_SERVERWhen setting this variable the DomainParticipant is configured as a Client of the given Server, implementing the Server-Client Discovery mechanism, provided its DomainParticipant’s
discoveryProtocolsetting has been left configured as default (Simple discovery). The value of the variable must list the locator of the server in the form of the IP address (e.g., ‘192.168.2.23’) or IP-port pair (e.g., ‘192.168.2.23:24353’). If no port is specified, the default port 11811 is used. For more information on how to configure the discovery mechanism in Fast DDS, please refer to Discovery.Warning
The environment variable is only used in the case where discoveryProtocol is set to
SIMPLE. In any other case the environment variable has no effect.To set more than one address they must be separated by semicolons. The server’s Id is determined by their position in the list. A blank space between semicolons means the corresponding Id is free.
Example
The following example shows how to set the address of two remote discovery servers with addresses ‘84.22.259.329:8888’ and ‘81.41.17.102:1234’ and Ids 0 and 2 respectively.
Linux
export ROS_DISCOVERY_SERVER=84.22.259.329:8888;;81.41.17.102:1234
Windows
set ROS_DISCOVERY_SERVER=84.22.259.329:8888;;81.41.17.102:1234