Using XML-defined Types with RTI Routing Service

Description

This example demonstrates how XML type definition can be used in an RTI Routing Service configuration. CUrrently, the example includes type definitions in the Routing Serivce configuration XML file. The eventual goal is to be able to include rtiddsgen-generated XML type definitions as external files; however, this goal must wait until 6he Connext Professional 6.1.2 maintenance release.

The repo contains three main components:

pose_publisher
- Simple DDS application that publishes samples of type Pose to the Topic Pose Topic in Domain 0
pose_subscriber
- Simple DDS application that subscribes to the Topic Pose Topic in Domain 1
rs-config.xml
- RTI Routing Service configuration file to route the Pose Topic Topic between Domain 0 and Domain 1

Assumptions

The NDDSHOME environment valiable must be set. Every RTI Connext Professional installation includes a script to accomplish this.

<INSTALL DIR>/rti_connext_dds-6.1.1/resource/scripts/rtisetenv_<ARCHITECTURE>.bash

This document assumes that this will be called in the repo's base directory. For example, on MacOS:

cd rs-xml-types
source /Applications/rti_connext_dds-6.1.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash

Generating Type-support code

From the repo base directory:

./generate_type_support.sh

Building the DDS applications

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

The resulting executables can be found in the objs/<ARCHITECTURE> directory.

Running the applications and starting Routing Service

Open 3 terminal sessions and set the NDDSHOME environment valiable in each as described above.

In terminal #1

Start the publisher

cd rs-xml-types
./objs/x64Darwin17clang9.0/pose_publisher

In terminal #2

Start the subscriber

cd rs-xml-types
./objs/x64Darwin17clang9.0/pose_publisher

In terminal #3

Start the Routing Service instance

cd rs-xml-types
$NDDSHOME/bin/rtiroutingservice -cfgFile "rs-config.xml" -cfgName PoseBothWays

dgochenour / rs-xml-types