ROS2 topic list does not show all available topics running on network

Question

I am working with ROS2, I got the situation that 'ros2 topic list' doesn't show all topics on the ros2 network.

The above command only showed :

I think that there's certain mismatch in configuration with DDS distros. I studied around Internet and got Cyclone DDS background supports ROS2 distribution. Also, the run-time configuration of Cyclone DDS is via CYCLONEDDS_URI environmental export.

I expect that the 'ros2 topic list' shall show all my available topics (plus 2 topics /parameter_events and /rosout).

Anybody runs into the same issue to me? Thanks!

Nansen

Answer 1

The problem is because of the lack of //CycloneDDS/Domain/Discovery (Discovery tag). The Discovery element allows specifying various parameters related to the discovery of peers.

The issue can be resolved by adding the <Discovery>...</Discovery> tag as below:

Nansen