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docs: record successful Nav2 DDS verification

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2026-07-23 18:27:04 +08:00
parent e365bce37d
commit 985550a62f
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docs/crucial_change/2026-07-23-fastdds-164-network-change.md
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@@ -1082,3 +1082,126 @@ unset _wsl_dds_profile
- 修正：在双端自定义 UDPv4 transport descriptor 中加入 `<maxInitialPeersRange>64</maxInitialPeersRange>`。
- 范围依据：64 覆盖当前约 16 个 RDK participant 和 WSL 现有软件，并保留余量；不固定具体 UDP 端口，不引入 discovery server。
- 必要复测：本机多 participant 发现、Nav2 lifecycle 激活、WSL 关键话题可见、`.210` Domain 22 仍为零。
### peer 扫描范围修正与 Nav2 最终结果
- RDKx5 XML：
- 最终 SHA-256：`ecf275c084d4b8a1d2445a2613e079ab78182ac91dabd7ba53b48c10dde9c6d8`
- `maxInitialPeersRange` commit：`e365bce`
- WSL XML：
- 最终 SHA-256：`d5de39799e4daa030025629fe5ee5eac1800f1c6def2c44971108ffe6ee6d54d`
- `maxInitialPeersRange` commit：`441bf80`
- 两个 RDK participant 的本机单播测试通过：`SUB_RECEIVED ... local_ok` 与 `PUB_SENT ... local_ok`。
- 实际启动命令：
```bash
source /opt/ros/humble/setup.bash
source /home/sunrise/yiliao_ws/install/setup.bash
source /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh
ros2 launch obstacle_nav2 obstacle_nav2.launch.py enable_motion:=false
```
- Nav2 lifecycle 完成配置与激活，日志包含 `Managed nodes are active`。
- WSL 专用环境可见：
- `/obstacles`
- `/local_costmap/costmap`
- `/local_costmap/costmap_raw`
- `/global_costmap/costmap`
- `/global_costmap/costmap_raw`
- `/cmd_vel_hardware_disabled`
- 实际 Nav2 participant socket 抽查均绑定 `192.168.10.164`。
- 验证脚本输出 `NAV2_VERIFY_OK`；验证结束后通过 `SIGINT` 停止 launch，未发布运动目标。
RDKx5 最终 XML 完整内容：
```xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>rdk_udp_164</transport_id>
<type>UDPv4</type>
<maxInitialPeersRange>64</maxInitialPeersRange>
<interfaceWhiteList>
<address>192.168.10.164</address>
</interfaceWhiteList>
</transport_descriptor>
<transport_descriptor>
<transport_id>rdk_shm</transport_id>
<type>SHM</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="rdk_dds_164" is_default_profile="true">
<rtps>
<builtin>
<avoid_builtin_multicast>true</avoid_builtin_multicast>
<initialPeersList>
<locator>
<udpv4>
<address>192.168.10.164</address>
</udpv4>
</locator>
<locator>
<udpv4>
<address>192.168.10.151</address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
<userTransports>
<transport_id>rdk_udp_164</transport_id>
<transport_id>rdk_shm</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
```
WSL 最终 XML 完整内容：
```xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>wsl_udp_151</transport_id>
<type>UDPv4</type>
<maxInitialPeersRange>64</maxInitialPeersRange>
<interfaceWhiteList>
<address>192.168.10.151</address>
</interfaceWhiteList>
</transport_descriptor>
<transport_descriptor>
<transport_id>wsl_shm</transport_id>
<type>SHM</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="wsl_dds_151" is_default_profile="true">
<rtps>
<builtin>
<avoid_builtin_multicast>true</avoid_builtin_multicast>
<initialPeersList>
<locator>
<udpv4>
<address>192.168.10.151</address>
</udpv4>
</locator>
<locator>
<udpv4>
<address>192.168.10.164</address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
<userTransports>
<transport_id>wsl_udp_151</transport_id>
<transport_id>wsl_shm</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
```