cheng
85 lines
2.5 KiB
XML
85 lines
2.5 KiB
XML
<?xml version="1.0" encoding="UTF-8" ?>
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<!--
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visual-servo 硬实时路径用的 FastDDS 配置（Ubuntu 22.04 / Humble 默认 RMW）。
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用法：
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export FASTRTPS_DEFAULT_PROFILES_FILE=~/ros2/config/fastdds_visual_servo.xml
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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目标：
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- 低延迟的控制话题优先使用 UDP 单播
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- 缩短发现 / 参与者租约，避免后加入的节点把 100 Hz 卡住
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- 保持较浅的历史队列，让订阅者永远不必去追积压的旧数据
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-->
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>udp_transport</transport_id>
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<type>UDPv4</type>
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<!-- 避免繁重的感知与伺服之间因共享内存积压而卡顿 -->
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<maxMessageSize>65500</maxMessageSize>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="visual_servo_participant" is_default_profile="true">
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<rtps>
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<userTransports>
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<transport_id>udp_transport</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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<builtin>
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<discovery_config>
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<!-- 加快发现；缩短租约，让已经死掉的节点尽快被剔除 -->
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<leaseDuration>
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<sec>10</sec>
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<nanosec>0</nanosec>
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</leaseDuration>
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<leaseAnnouncement>
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<sec>3</sec>
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<nanosec>0</nanosec>
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</leaseAnnouncement>
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<initialAnnouncements>
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<count>5</count>
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<period>
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<sec>0</sec>
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<nanosec>100000000</nanosec>
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</period>
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</initialAnnouncements>
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</discovery_config>
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</builtin>
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</rtps>
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</participant>
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<!-- 感知图像话题：BEST_EFFORT + KEEP_LAST（丢弃旧帧） -->
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<data_reader profile_name="sensor_best_effort">
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<qos>
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<reliability>
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<kind>BEST_EFFORT</kind>
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</reliability>
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<history>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</history>
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<durability>
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<kind>VOLATILE</kind>
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</durability>
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</qos>
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</data_reader>
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<!-- /visual_servo/cmd_vel：永远只保留最新的 Twist -->
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<data_writer profile_name="cmd_vel_latest">
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<qos>
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<reliability>
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<kind>RELIABLE</kind>
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</reliability>
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<history>
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<kind>KEEP_LAST</kind>
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<depth>1</depth>
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</history>
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<durability>
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<kind>VOLATILE</kind>
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</durability>
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</qos>
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</data_writer>
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</profiles>
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