Examples

In this section we discuss a collection of useful use-cases leveraging the already existing System Handles, with the aim of providing examples of usage and showcasing Integration Service’s functionalities. For each use-case, a related example is presented and the user is guided step-by-step through the installation protocol and environment preparation necessary to have the examples set up and working. It is organized as follows:

• 1. Different Protocols
  • 1.1. Publisher - Subscriber
  • 1.2. Server - Client
• 2. Same Protocol
  • 2.1. DDS Domain ID change
  • 2.2. ROS 2 Domain ID change
• 3. WAN Communication
  • 3.1. WAN-TCP tunneling over DDS