Create discovery server partitions on User PC for multiple turtlebots

[PrakritTyagi]

Robot Model

Turtlebot4 Lite

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

turtlebot4_standard_humble_1.0.0.zip 2023-03-03 23:51 1.9G

Type of issue

Networking

Expected behaviour

Connect individual terminals to each turtlebots.

Actual behaviour

Each terminal opened becomes a listener to all turtlebots.

Error messages

No response

To Reproduce

1. open individual terminals
2. Soure each ROS_DISCOVERY_SERVER address:port in each terminal
3. Listen to each turtlebot topics in individual terminals

Other notes

Hi, I have four turtlebots setup with discovery server. The discover server setup that configures the user PC has created a setup.bash file in the directory /etc/turtlebot_discovery. The setup.bash file looks like this...

source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
export ROS_DOMAIN_ID=0
export ROS_DISCOVERY_SERVER="192.168.0.106:11811;192.168.0.41:11811;192.168.0.151:11811;192.168.0.112:11811;"

I want to change my setup so that I can listen to ros topics/services/actions for any robot when I export its discovery server address:port. Changes that I have in my mind:

1. Setup discovery server again and use different port for each robot as explained in the Ros2 humble docs .
2. Create individual setup.bash files for each robot that only exports their server address. How should the content in these bash files look like?
3. Can someone explain each line in my current setup.bash file? I want to understand what happens when I source the above bash file.

I would greatly appreciate if someone would look at this and give me suggestions to get this working. Thank you for your guidance.