Using Discovery Server with Fast-DDS-python

[MMarcus95]

Hello,

I would like to use Fast-DDS-python with Discovery Server. Is there a way to do that?

Thanks!

[elianalf]

Hi @MMarcus95, thanks for using Fast DDS.
Sure, you can use a Command Line Instruction to create a server, for more information refer to CLI Discovery Section and you can simply use the environment variable ROS_DISCOVERY_SERVER to connect the server to a client, for more information refer to ROS_DISCOVERY_SERVER Section.

[MMarcus95]

Thanks for the suggestion. Is there a way to do that using the python API instead? I know that with the C++ API you can set a domain participant to be the client of a server, specifying the remote server attributes and the discoveryProtocol as CLIENT.

For example, I have a server defined with C++ Fast-DDS API. Is there a way to define its client using python? Saying differently, is there a python version of this C++ code?

Thanks!!

[JesusPoderoso]

Hi @MMarcus95, there are no examples of that, but as long as the public API is exposed, the calls and arguments are the same in Python as they are in C++.
As @ploe24 pointed out, we are using SWIG too to wrap the C++ API into Python methods.

[ploe24]

Is there a way to define its client using python? Saying differently, is there a python version of this C++ code?

You could write your client in C++, then wrap it using, for example SWIG, to create your Python API.