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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 :

enter image description here

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!

Thảo M. Hoàng
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1 Answers1

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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:

enter image description here

Thảo M. Hoàng
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  • thank you. I switched the fastrtps after saw your question then I can see the device. Can you tell me how to add this tag? where is the related file? – nogabemist Dec 13 '22 at 12:00