Update documentation and examples: guid-less discovery server

Signed-off-by: Juan Lopez Fernandez <[email protected]>
eProsima · Sep 5, 2024 · 973b2e6 · 973b2e6
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diff --git a/docs/resources/examples/ros_discovery_client.yaml b/docs/resources/examples/ros_discovery_client.yaml
@@ -36,13 +36,10 @@ participants:
       ros-discovery-server: true                                  # 7
       id: 2                                                       # 8
     connection-addresses:                                         # 9
-      - discovery-server-guid:
-          ros-discovery-server: true                              # 10
-          id: 1                                                   # 11
-        addresses:
-          - domain: localhost                                     # 12
-            port: 11888                                           # 13
-                                                                  # 14
+      - addresses:
+          - domain: localhost                                     # 10
+            port: 11888                                           # 11
+                                                                  # 12
 
 ##################################
 # CONFIGURATION DESCRIPTION
@@ -77,15 +74,11 @@ participants:
 
 # 9: Add the addresses where this Client will try to reach a Discovery Server.
 
-# 10: Connecting to a Discovery Server with ROS 2 GuidPrefix <44.53. <id> .5f.45.50.52.4f.53.49.4d.41>.
+# 10: Connect to a Discovery Server in IP localhost listening. This domain will be translated as ip: "127.0.0.1"
 
-# 11: Set the Remote Discovery Server GuidPrefix to <44.53.01.5f.45.50.52.4f.53.49.4d.41>.
+# 11: Discovery Server listening port is 11888.
 
-# 12: Connect to a Discovery Server in IP localhost listening. This domain will be translated as ip: "127.0.0.1"
-
-# 13: Discovery Server listening port is 11888.
-
-# 14: This is the same configuration as the result using Fast DDS environment variable:
+# 12: This is the same configuration as the result using Fast DDS environment variable:
 # $> export ROS_DISCOVERY_SERVER=";127.0.0.1:11888"
 # Add every other address where trying to reach this same remote Discovery Server,
 # or add every other Discovery Server connection required.
diff --git a/docs/resources/examples/wan_ds_client.yaml b/docs/resources/examples/wan_ds_client.yaml
@@ -34,18 +34,14 @@ participants:
 
   - name: WANClient                                               # 6
     kind: wan-ds                                                  # 7
-    discovery-server-guid:
-      id: 2                                                       # 8
-    connection-addresses:                                         # 9
-      - discovery-server-guid:
-          id: 1                                                   # 10
-        addresses:                                                # 11
+    connection-addresses:                                         # 8
+      - addresses:                                                # 9
           - ip: 1.1.1.1
             port: 11666
-    listening-addresses:                                          # 12
-      - ip: 2.2.2.2                                               # 13
-        port: 11670                                               # 14
-        transport: udp                                            # 15
+    listening-addresses:                                          # 10
+      - ip: 2.2.2.2                                               # 11
+        port: 11670                                               # 12
+        transport: udp                                            # 13
 
 ##################################
 # CONFIGURATION DESCRIPTION
@@ -76,26 +72,22 @@ participants:
 # 7: Kind of WANClient: <wan-ds>.
 # WAN communication with another DDS Router via Discovery Server.
 
-# 8: Set the Discovery Server GuidPrefix to <01.0f.02.00.00.00.00.00.00.00.ca.fe> for WANClient.
-
-# 9: Add the addresses where to reach the remote DDS Routers that will connect to.
+# 8: Add the addresses where to reach the remote DDS Routers that will connect to.
 # Add as many connection-addresses as needed.
 
-# 10: Set the Remote Discovery Server GuidPrefix to <01.0f.01.00.00.00.00.00.00.00.ca.fe>.
-
-# 11: Connect to a Discovery Server in IP <1.1.1.1> listening in port 11666 over UDP transport (default).
+# 9: Connect to a Discovery Server in IP <1.1.1.1> listening in port 11666 over UDP transport (default).
 # This is the same configuration that must be set in the DDS Router that works as a Server in its listening-addresses.
 # Add every other address where trying to reach this same remote WAN Discovery Server.
 
-# 12: Add the interfaces where this Participant will listen in WAN.
+# 10: Add the interfaces where this Participant will listen in WAN.
 # This is only needed if Remote WAN Server is using only UDP.
 # Add as many listening-addresses as needed.
 
-# 13: Listen in public IP (2.2.2.2) for remote traffic.
+# 11: Listen in public IP (2.2.2.2) for remote traffic.
 # This IP must be set to the public IP of the host where this DDS Router will run.
 
-# 14: Listening port is 11670.
+# 12: Listening port is 11670.
 # Remember that if the host is under a NAT, the IP must be the public one and must be forwarded from network
 # router to this host to the same port.
 
-# 15: It uses UDP transport by default if not set. Could be set to "udp" or "tcp".
+# 13: It uses UDP transport by default if not set. Could be set to "udp" or "tcp".
diff --git a/docs/resources/examples/wan_ds_server.yaml b/docs/resources/examples/wan_ds_server.yaml
@@ -34,12 +34,10 @@ participants:
 
   - name: WANServer                                               # 6
     kind: wan-ds                                                  # 7
-    discovery-server-guid:
-      id: 1                                                       # 8
-    listening-addresses:                                          # 9
-      - ip: 1.1.1.1                                               # 10
-        port: 11666                                               # 11
-        transport: udp                                            # 12
+    listening-addresses:                                          # 8
+      - ip: 1.1.1.1                                               # 9
+        port: 11666                                               # 10
+        transport: udp                                            # 11
 
 ##################################
 # CONFIGURATION DESCRIPTION
@@ -70,17 +68,14 @@ participants:
 # 7: Kind of WANServer: <wan-ds>.
 # WAN communication with another DDS Router via Discovery Server.
 
-# 8: Set this Discovery Server GuidPrefix to <01.0f.01.00.00.00.00.00.00.00.ca.fe> for WANServer.
-# This GuidPrefix is needed in order from a remote DDS Router to connect with this one.
-
-# 9: Add the interfaces where this Participant will listen in WAN.
+# 8: Add the interfaces where this Participant will listen in WAN.
 # Add as many listening-addresses as needed.
 
-# 10: Listen in public IP (1.1.1.1) for remote traffic.
+# 9: Listen in public IP (1.1.1.1) for remote traffic.
 # This IP must be set to the public IP of the host where this DDS Router will run.
 
-# 11: Listening port is 11666.
+# 10: Listening port is 11666.
 # Remember that if the host is under a NAT, the IP must be the public one and must be forwarded from network
 # router to this host to the same port.
 
-# 12: It uses UDP transport by default if not set. Could be set to "udp" or "tcp".
+# 11: It uses UDP transport by default if not set. Could be set to "udp" or "tcp".
diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
@@ -741,7 +741,8 @@ For more information, check section :ref:`user_manual_wan_configuration_nat_trav
 Discovery Server GuidPrefix
 ---------------------------
 
-A :term:`Discovery Server` requires a DDS :term:`GuidPrefix` in order for other Participants to connect to it.
+In |fastdds| versions previous to *v3.0.0*, a :term:`Discovery Server` requires a DDS :term:`GuidPrefix` in order for other Participants to connect to it.
+Although this parameter is no longer mandatory, it is still possible to set it so that a Discovery Server client from an older release may still stablish connection with a Discovery Server server from the newer ones.
 Under the ``discovery-server-guid`` tag, there are several possibilities for configuring a GuidPrefix.
 
 
@@ -840,21 +841,17 @@ Discovery Server Connection Addresses
 -------------------------------------
 
 Tag ``connection-addresses`` configure a connection with one or multiple remote Discovery Servers.
-``connection-addresses`` is the *key* for an array in which each element has a GuidPrefix referencing the Discovery
-Server to connect with; and a tag ``addresses`` configuring the addresses of such Discovery Server.
+``connection-addresses`` is the *key* for an array in which each element has a tag ``addresses`` configuring the
+addresses of such Discovery Server.
 Each element inside ``addresses`` must follow the configuration for :ref:`user_manual_configuration_network_address`.
 
 .. code-block:: yaml
 
     connection-addresses:
-      - discovery-server-guid:
-          guid: 44.53.0d.5f.45.50.52.4f.53.49.4d.41
-        addresses:
+      - addresses:
           - ip: 127.0.0.1
             port: 11666
-      - discovery-server-guid:
-          id: 4
-        addresses:
+      - addresses:
           - ip: 2001:4860:4860::8888
             port: 11667
             transport: tcp
@@ -1113,10 +1110,7 @@ A complete example of all the configurations described on this page can be found
             transport: tcp              # Transport = TCP
 
         connection-addresses:
-          - discovery-server-guid:
-              id: 2
-              ros-discovery-server: true
-            addresses:
+          - addresses:
               - domain: "localhost"
                 port: 22000
 
@@ -1133,9 +1127,7 @@ A complete example of all the configurations described on this page can be found
           id: 2                         # Internal WAN Discovery Server id => GuidPrefix = 01.0f.02.00.00.00.00.00.00.00.ca.fe
 
         connection-addresses:           # WAN Discovery Server Connection Addresses
-          - discovery-server-guid:
-              id: 4                     # External WAN Discovery Server id => GuidPrefix = 01.0f.04.00.00.00.00.00.00.00.ca.fe
-            addresses:
+          - addresses:
               - ip: 8.8.8.8             # IP = 8.8.8.8
                 port: 11666             # Port = 11666
                 transport: udp          # Transport = UDP

diff --git a/docs/rst/user_manual/participants/local_discovery_server.rst b/docs/rst/user_manual/participants/local_discovery_server.rst
@@ -53,8 +53,7 @@ Configure a Local Discovery Server setting the GuidPrefix used for ROS 2 deploym
 (``44.53.02.5f.45.50.52.4f.53.49.4d.41``).
 It listens for clients in *localhost* in ports ``11600`` in ``UDP`` and ``11601`` in ``TCP``.
 This example connects the local Discovery Server Participant with a remote Discovery Server listening in IPv6 address
-``2001:4860:4860::8888`` and port ``11666`` and configured with ``01.0f.04.00.00.00.00.00.00.00.ca.fe``
-Discovery Server GuidPrefix.
+``2001:4860:4860::8888`` and port ``11666``.
 
 .. code-block:: yaml
 
@@ -74,8 +73,6 @@ Discovery Server GuidPrefix.
           transport: tcp                              # Use TCP transport
 
       connection-addresses:                           # External Discovery Server Listening Addresses
-        - discovery-server-guid:
-            id: 4                                     # External Discovery Server id => GuidPrefix = 01.0f.04.00.00.00.00.00.00.00.ca.fe
-          addresses:
+        - addresses:
             - ip: 2001:4860:4860::8888                # Use UDP by default
               port: 11666
diff --git a/docs/rst/user_manual/participants/wan_discovery_server.rst b/docs/rst/user_manual/participants/wan_discovery_server.rst
@@ -62,8 +62,8 @@ Configuration Example
 
 Configure a WAN Discovery Server with GuidPrefix id ``2`` (``01.0f.02.00.00.00.00.00.00.00.ca.fe``).
 It listens for clients in public IP ``82.0.0.1`` in port ``11600`` in ``TCP``.
-It connects with a remote WAN Participant in IPv6 address ``2001:4860:4860::8888`` and port ``11666`` which Discovery
-Server GuidPrefix is ``01.0f.04.00.00.00.00.00.00.00.ca.fe`` using ``UDP`` transport.
+It connects with a remote WAN Participant in IPv6 address ``2001:4860:4860::8888`` and port ``11666``
+using ``UDP`` transport.
 
 .. code-block:: yaml
 
@@ -72,16 +72,14 @@ Server GuidPrefix is ``01.0f.04.00.00.00.00.00.00.00.ca.fe`` using ``UDP`` trans
       kind: wan-discovery-server
 
       discovery-server-guid:
-        id: 2                                     # GuidPrefix = 01.0f.02.00.00.00.00.00.00.00.ca.fe
+        id: 2                                     # GuidPrefix = 01.0f.02.00.00.00.00.00.00.00.ca.fe [optional]
 
       listening-addresses:                        # WAN Discovery Server Listening Addresses
         - ip: 82.0.0.1                            # Use UDP by default
           port: 11600
 
       connection-addresses:                       # Another WAN Participant Listening Addresses
-        - discovery-server-guid:
-            id: 4                                 # External Discovery Server id => GuidPrefix = 01.0f.04.00.00.00.00.00.00.00.ca.fe
-          addresses:
+        - addresses:
             - ip: 2001:4860:4860::8888
               port: 11666
               transport: udp                      # Use UDP transport
diff --git a/resources/configurations/examples/ros_discovery_client.yaml b/resources/configurations/examples/ros_discovery_client.yaml
@@ -36,13 +36,10 @@ participants:
       ros-discovery-server: true                                  # 7
       id: 2                                                       # 8
     connection-addresses:                                         # 9
-      - discovery-server-guid:
-          ros-discovery-server: true                              # 10
-          id: 1                                                   # 11
-        addresses:
-          - domain: localhost                                     # 12
-            port: 11888                                           # 13
-                                                                  # 14
+      - addresses:
+          - domain: localhost                                     # 10
+            port: 11888                                           # 11
+                                                                  # 12
 
 ##################################
 # CONFIGURATION DESCRIPTION
@@ -77,15 +74,11 @@ participants:
 
 # 9: Add the addresses where this Client will try to reach a Discovery Server.
 
-# 10: Connecting to a Discovery Server with ROS 2 GuidPrefix <44.53. <id> .5f.45.50.52.4f.53.49.4d.41>.
+# 10: Connect to a Discovery Server in IP localhost listening. This domain will be translated as ip: "127.0.0.1"
 
-# 11: Set the Remote Discovery Server GuidPrefix to <44.53.01.5f.45.50.52.4f.53.49.4d.41>.
+# 11: Discovery Server listening port is 11888.
 
-# 12: Connect to a Discovery Server in IP localhost listening. This domain will be translated as ip: "127.0.0.1"
-
-# 13: Discovery Server listening port is 11888.
-
-# 14: This is the same configuration as the result using Fast DDS environment variable:
+# 12: This is the same configuration as the result using Fast DDS environment variable:
 # $> export ROS_DISCOVERY_SERVER=";127.0.0.1:11888"
 # Add every other address where trying to reach this same remote Discovery Server,
 # or add every other Discovery Server connection required.
diff --git a/resources/configurations/examples/wan_ds_client.yaml b/resources/configurations/examples/wan_ds_client.yaml
@@ -34,12 +34,8 @@ participants:
 
   - name: WANClient                                               # 6
     kind: wan-discovery-server                                    # 7
-    discovery-server-guid:
-      id: 2                                                       # 8
-    connection-addresses:                                         # 9
-      - discovery-server-guid:
-          id: 1                                                   # 10
-        addresses:                                                # 11
+    connection-addresses:                                         # 8
+      - addresses:                                                # 9
           - ip: 1.1.1.1
             port: 11777
             transport: tcp
@@ -73,13 +69,9 @@ participants:
 # 7: Kind of WANClient: <wan-discovery-server>.
 # WAN communication with another DDS Router via Discovery Server.
 
-# 8: Set the Discovery Server GuidPrefix to <01.0f.02.00.00.00.00.00.00.00.ca.fe> for WANClient.
-
-# 9: Add the addresses where to reach the remote DDS Routers that will connect to.
+# 8: Add the addresses where to reach the remote DDS Routers that will connect to.
 # Add as many connection-addresses as needed.
 
-# 10: Set the Remote Discovery Server GuidPrefix to <01.0f.01.00.00.00.00.00.00.00.ca.fe>.
-
-# 11: Connect to a Discovery Server in IP <1.1.1.1> listening in port 11666 over UDP transport (default).
+# 9: Connect to a Discovery Server in IP <1.1.1.1> listening in port 11666 over UDP transport (default).
 # This is the same configuration that must be set in the DDS Router that works as a Server in its listening-addresses.
 # Add every other address where trying to reach this same remote WAN Discovery Server.
diff --git a/resources/configurations/examples/wan_ds_server.yaml b/resources/configurations/examples/wan_ds_server.yaml
@@ -34,13 +34,11 @@ participants:
 
   - name: WANServer                                               # 6
     kind: wan-discovery-server                                    # 7
-    discovery-server-guid:
-      id: 1                                                       # 8
-    listening-addresses:                                          # 9
-      - ip: 1.1.1.1                                               # 10
-        port: 11666                                               # 11
-        external-port: 11777                                      # 12
-        transport: tcp                                            # 13
+    listening-addresses:                                          # 8
+      - ip: 1.1.1.1                                               # 9
+        port: 11666                                               # 10
+        external-port: 11777                                      # 11
+        transport: tcp                                            # 12
 
 ##################################
 # CONFIGURATION DESCRIPTION
@@ -71,21 +69,18 @@ participants:
 # 7: Kind of WANServer: <wan-discovery-server>.
 # WAN communication with another DDS Router via Discovery Server.
 
-# 8: Set this Discovery Server GuidPrefix to <01.0f.01.00.00.00.00.00.00.00.ca.fe> for WANServer.
-# This GuidPrefix is needed in order from a remote DDS Router to connect with this one.
-
-# 9: Add the interfaces where this Participant will listen in WAN.
+# 8: Add the interfaces where this Participant will listen in WAN.
 # Add as many listening-addresses as needed.
 
-# 10: Listen in public IP (1.1.1.1) for remote traffic.
+# 9: Listen in public IP (1.1.1.1) for remote traffic.
 # This IP must be set to the public IP of the host where this DDS Router will run.
 
-# 11: Listening port is 11666.
+# 10: Listening port is 11666.
 # Remember that if the host is under a NAT, this port is the one that the host will open, but not the one
 # used as public in the router.
 
-# 12: External port is 11777.
+# 11: External port is 11777.
 # This port is used in case the host is under a NAT. This is the public port accessible from any external point
 # in the network, and should be forwarded from the network router to the "port" value.
 
-# 13: It uses TCP. UDP transport is used by default if not set. Could be set to "udp" or "tcp".
+# 12: It uses TCP. UDP transport is used by default if not set. Could be set to "udp" or "tcp".
diff --git a/tools/ddsrouter_tool/test/application/CMakeLists.txt b/tools/ddsrouter_tool/test/application/CMakeLists.txt
@@ -22,7 +22,7 @@ find_package(PythonInterp 3 REQUIRED)
 set(TEST_CONFIGURATIONS
     simple_configuration
     ds_configuration
-    complex_configuration_v3
+    complex_configuration
     wan_configuration
 )
 

diff --git a/...figurations/complex_configuration_v3.yaml → ...configurations/complex_configuration.yaml b/...figurations/complex_configuration_v3.yaml → ...configurations/complex_configuration.yaml
@@ -55,21 +55,14 @@ participants:
 
   - name: local-ds
     kind: local-discovery-server
-    discovery-server-guid:
-      id: 0
-
     listening-addresses:
       - ip: "127.0.0.1"
         port: 11666
 
   - name: wan
     kind: wan-ds
-    discovery-server-guid:
-      id: 1
     connection-addresses:
-      - discovery-server-guid:
-          id: 2
-        addresses:
+      - addresses:
         - ip: "127.0.0.1"
           port: 11667
           external-port: 11678