4.6. micro-ROS and Discovery Server

micro-ROS can be use with Fast DDS Discovery Server as discovery protocol. Fast DDS Discovery Server can be useful for several reasons, some of the most important:

  • An scenario where a considerable amount of participants and endpoints share the same domain.

  • A network where multicast communication is not available.

  • A network where multicast does not work properly, such as WiFi networks.

  • DDS isolation needs to be ensured between different data spaces but DDS domains cannot be used.


Further information about Discover Server setup.


Further information about how to use Discover Server.

4.6.1. micro-ROS Agent configuration

micro-ROS Agent uses Fast DDS as middleware, so it can be configured using Fast DDS XML configuration files. Also, micro-ROS Agent can be configured using environment variables.

As any Fast DDS application, micro-ROS Agent can be configured in two ways:

4.6.2. ROS 2 tools with Discover Server

In order to be able to use ROS 2 tools to interface with micro-ROS entities created in a micro-ROS Agent with Discovery Server enabled an XML profile shall be loaded in the ROS environment.

The following example provides an example XML for configuring ROS 2 Daemon as a SuperClient:

<?xml version="1.0" encoding="UTF-8" ?>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <participant profile_name="super_client_profile" is_default_profile="true">
                            <RemoteServer prefix="">

In order to use the previous XML file, the environment variable FASTRTPS_DEFAULT_PROFILES_FILE shall be set to the path of the XML file: