Refs #22616: Auto Discovery Server Mode tutorial

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>

docs/rst/tutorials/core/deployment/deployment_tutorials.rst

@@ -21,3 +21,4 @@ For tutorials related to cloud or cloud-edge deployments, please refer :ref:`tut
     user_topics_multicast/user_topics_multicast
     keys/topic_keys
     keys/filtered_topic_keys
+    easy_mode/easy_mode

docs/rst/tutorials/core/deployment/easy_mode/easy_mode.rst

@@ -0,0 +1,81 @@
+.. include:: ../../../../exports/alias.include
+
+.. _easy_mode_tutorial:
+
+Easy Mode Tutorial
+==================
+
+This tutorial aims to demonstrate the use
+
+.. contents::
+    :depth: 2
+    :local:
+    :backlinks: none
+
+Prerequisites
+-------------
+
+* It is recommended to have a basic understanding of ``Vulcanexus Easy Mode`` introduced in the :ref:`easy_mode` section.
+* An up-to-date (latest) Vulcanexus installation using one of the following installation methods:
+
+  * :ref:`linux_binary_installation`
+  * :ref:`linux_source_installation`
+  * :ref:`docker_installation`
+
+Preparation
+-----------
+
+Lets start by setting up the Vulcanexus environment.
+For this, there are two possible options:
+
+#.  Running the Vulcanexus Docker image (recommended).
+
+    Run the Vulcanexus Docker image with:
+
+    .. code-block:: bash
+
+        docker run -it --rm ubuntu-vulcanexus:{DISTRO}-desktop
+
+    Then, within the container, source the Vulcanexus installation with:
+
+    .. code-block:: bash
+
+            source /opt/vulcanexus/{DISTRO}/setup.bash
+
+    Repeat these steps in a second terminal.
+
+#.  Running the tutorial on the local host (note that more than one host connected to the same network will be needed).
+    For this second option, it is necessary to have the ``vucanexus-jazzy-base`` package installed.
+
+    In both hosts, source the following file to setup the Vulcanexus environment:
+
+    .. code-block:: bash
+
+            source /opt/vulcanexus/{DISTRO}/setup.bash
+
+Running the demo
+----------------
+
+The demo will be exemplified using Docker.
+It consists in two docker containers (hosts) running a ROS 2 talker - listener example with the new ``Vulcanexus Easy Mode`` enabled.
+Both hosts are in the same network and domain id as shown in the following diagram:
+
+.. image:: ../../../../figures/enhancements/easy_mode/easy_mode_tutorial.png
+    :align: center
+    :width: 55%
+
+Discovery server in Host A will serve as the master server.
+Hence, the IP address of Host A will be used to enable the ``Easy Mode`` in both containers.
+Run the following commands in each container:
+
+.. code-block:: bash
+
+    # Container 1
+    EASY_MODE=172.17.0.2 ros2 run demo_nodes_cpp talker
+
+    # Container 2
+    EASY_MODE=172.17.0.2 ros2 run demo_nodes_cpp listener
+
+After a moment, the listener should start receiving samples from the talker, meaning that both Discovery Servers are now connected to each other.
+As the talker and listener nodes share the same topic ``chatter``, nodes are discovered and data exchange can happen.
+Further benefits of using the new ``Easy Mode`` are detailed in the :ref:`easy_mode_benefits` section.