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update dds-sniffer with --topics, topic-info #13661

Merged
merged 3 commits into from
Jan 8, 2025
Merged

update dds-sniffer with --topics, topic-info #13661

merged 3 commits into from
Jan 8, 2025

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maloel
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@maloel maloel commented Jan 7, 2025 •
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When doing some ROS work I needed to see topic information but the dds-sniffer output was insufficient. I added so we can now see:

$ ./Release/rs-dds-sniffer -d 0 --participants --topics
5898d32b8091.0  rs-dds-adapter
    R  realsense/D455_214623065416/control                               [ realdds::topics::raw::flexible reliable ]
     W realsense/D455_214623065416/metadata                              [ realdds::topics::raw::flexible best-effort ]
     W realsense/D455_214623065416/notification                          [ realdds::topics::raw::flexible reliable ]
     W realsense/device-info                                             [ realdds::topics::raw::flexible reliable ]
    R  rq/realsense/D455_214623065416/describe_parametersRequest         [ rcl_interfaces::srv::dds_::DescribeParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/get_parametersRequest              [ rcl_interfaces::srv::dds_::GetParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/list_parametersRequest             [ rcl_interfaces::srv::dds_::ListParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/set_parametersRequest              [ rcl_interfaces::srv::dds_::SetParameters_Request_ reliable ]
     W rr/realsense/D455_214623065416/describe_parametersReply           [ rcl_interfaces::srv::dds_::DescribeParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/get_parametersReply                [ rcl_interfaces::srv::dds_::GetParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/list_parametersReply               [ rcl_interfaces::srv::dds_::ListParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/set_parametersReply                [ rcl_interfaces::srv::dds_::SetParameters_Response_ reliable ]
     W rt/realsense/D455_214623065416_Color                              [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Depth                              [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Infrared_1                         [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Infrared_2                         [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Motion                             [ sensor_msgs::msg::dds_::Imu_ best-effort ]
011040e9be1ec39ac5f91813
    RW ros_discovery_info                                                [ rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ reliable transient-local ]
    R  rq/camera/camera/describe_parametersRequest                       [ rcl_interfaces::srv::dds_::DescribeParameters_Request_ reliable ]
    R  rq/camera/camera/get_parameter_typesRequest                       [ rcl_interfaces::srv::dds_::GetParameterTypes_Request_ reliable ]
    R  rq/camera/camera/get_parametersRequest                            [ rcl_interfaces::srv::dds_::GetParameters_Request_ reliable ]
    R  rq/camera/camera/list_parametersRequest                           [ rcl_interfaces::srv::dds_::ListParameters_Request_ reliable ]
    R  rq/camera/camera/set_parametersRequest                            [ rcl_interfaces::srv::dds_::SetParameters_Request_ reliable ]
    R  rq/camera/camera/set_parameters_atomicallyRequest                 [ rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ reliable ]
     W rr/camera/camera/describe_parametersReply                         [ rcl_interfaces::srv::dds_::DescribeParameters_Response_ reliable ]
     W rr/camera/camera/get_parameter_typesReply                         [ rcl_interfaces::srv::dds_::GetParameterTypes_Response_ reliable ]
     W rr/camera/camera/get_parametersReply                              [ rcl_interfaces::srv::dds_::GetParameters_Response_ reliable ]
     W rr/camera/camera/list_parametersReply                             [ rcl_interfaces::srv::dds_::ListParameters_Response_ reliable ]
     W rr/camera/camera/set_parametersReply                              [ rcl_interfaces::srv::dds_::SetParameters_Response_ reliable ]
     W rr/camera/camera/set_parameters_atomicallyReply                   [ rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ reliable ]
    RW rt/parameter_events                                               [ rcl_interfaces::msg::dds_::ParameterEvent_ reliable ]
     W rt/rosout                                                         [ rcl_interfaces::msg::dds_::Log_ reliable transient-local ]
  • Had to change on_writer_added and on_reader_added listener callbacks in dds-participant so they can provide actual QoS
  • Then take that QoS and easily stream as a string
  • Added --topics to rs-dds-sniffer

I actually prefer the output of --participants --topics to the default output of --snapshot...

@maloel maloel requested a review from OhadMeir January 7, 2025 17:06
OhadMeir
OhadMeir reviewed Jan 8, 2025
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tools/dds/dds-sniffer/rs-dds-sniffer.cpp
@@ -607,28 +637,69 @@ void dds_sniffer::print_topics() const
}
}

void dds_sniffer::print_participants( bool with_guids ) const
void dds_sniffer::print_participants( bool with_topics, bool with_guids ) const
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Do we neen with_guids as a parameter?
Currently always true, plus some participants might don't have a name or multiple participants have the same name.

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Right, but left as-is since it was there...

OhadMeir
OhadMeir approved these changes Jan 8, 2025
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Only a minor comment

@maloel maloel merged commit 485acf1 into IntelRealSense:development Jan 8, 2025
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@maloel maloel deleted the dds-sniffer branch January 8, 2025 13:43
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@maloel @OhadMeir