Need Three Device - Two Discovery Server Configuration Specifics - Limit Create3 Node

[slowrunner]

Need Three Device - Two Discovery Server Configuration Specifics To Limit Create3 Node Visibility

Purpose: The Create3 ROS 2 robot is overwhelmed (100% CPU usage causing stuttering behavior and crashes) when running RTABmap VSLAM with an Oak-D-Lite stereo depth camera. Investigating if isolating the Create3 from other nodes will protect the Create3 from overload conditions.

Concept:

Server 0 Invocation:

fastdds discovery -i 0 -l 192.168.186.3 -p 11811 -l x.x.x.wifi -p 11811 -l 127.0.0.1 -p 11811 &

Server 1 Invocation:

fastdds discovery -i 1 -l x.x.x.wifi -p 11888 -l 127.0.0.1 -p 11888 &

Using simple discovery, all three devices see each other reliably.
Using single discovery server, same exports everywhere, all three devices see each other reliably.
Using two discovery servers:

• The talker on server 0, listener on server 0;1 hears talker, listener on server 1 does not hear talker
• With talker on server 1, listener on server0;1 hears talker, listener on server 0 does not hear talker
• With talker on server 0;1, listeners on server 0 and server 1 hear talker
  BUT!
• With my c3Interface on 0;1 it does not hear Create3 on server 0, and echo on server 1 does not "see" c3interface topics

Current configuration issue:

• Using twin discovery servers, behavior nodes on discovery server 1 cannot see C3Interface node on server 0.

Devices:

• Create3 ROS 2 Humble robot
• Raspberry Pi5 ROS 2 Humble nodes and CLI
• Desktop ROS 2 Humble (over Ubuntu 22.04 in Fusion VM on MacMini2018)

Details:

• The WiFi is 5GHz Xfinity home router with multi-cast enabled
• The Raspberry Pi5 connects to the 5GHz WiFi with a reserved IPv4 address
• The Create3 connects to the Raspberry Pi5 via ethernet over usb0 / USB-C cable - Raspberry Pi5 is at static IPv4 192.168.186.3
• The Desktop connects via wired ethernet static IPv4 to the WiFi router to reach the Raspberry Pi5

SuperClient xml files and/or ROS_DISCOVERY_SERVER variables must not be correct.

For server 0 and server 1 visibility:
export ROS_DISCOVERY_SERVER="127.0.0.1:11811;127.0.0.1:11888"

SuperClient For C3Interface node (Server 0 and Server 1 visibility):
super_client_configuration_file01.xml.txt

For only server 1 visibility:
export ROS_DISCOVERY_SERVER=";127.0.0.1:11888"

SuperClient For Pi5 Nodes and CLI (only Server 1):
super_client_configuration_file1.xml.txt

There is only one ros2 daemon running started when the first ros2 node starts on server 0, don't understand how nodes in two different terminal shells with different Discovery Server environment vars are using the same ros2 daemon.