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add --no-daemon and --spin-time explanation in readme. #307

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May 8, 2024
Merged

add --no-daemon and --spin-time explanation in readme. #307

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2283fe0
add `--no-daemon` and `--spin-time` explanation in readme.
fujitatomoya May 8, 2024
333f630
increase `--spin-time` from 3 to 4 seconds based on CI.
fujitatomoya May 8, 2024
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11 changes: 7 additions & 4 deletions SROS2_Linux.md
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Original file line number Diff line number Diff line change
Expand Up @@ -120,24 +120,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
```

Then use the CLI as usual:
Then use the CLI with `--no-daemon` and `--spin-time`:

> [!NOTE]
> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.

```bash
ros2 node list
ros2 node list --no-daemon --spin-time 4
```
```
/talker
```
```bash
ros2 topic list
ros2 topic list --no-daemon --spin-time 4
```
```
/chatter
/parameter_events
/rosout
```
```bash
ros2 topic echo /chatter
ros2 topic echo /chatter --spin-time 4
```
```
[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener
Expand Down
11 changes: 7 additions & 4 deletions SROS2_MacOS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -130,24 +130,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
```

Then use the CLI as usual:
Then use the CLI with `--no-daemon` and `--spin-time`:

> [!NOTE]
> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.

```bash
ros2 node list
ros2 node list --no-daemon --spin-time 4
```
```
/talker
```
```bash
ros2 topic list
ros2 topic list --no-daemon --spin-time 4
```
```
/chatter
/parameter_events
/rosout
```
```bash
ros2 topic echo /chatter
ros2 topic echo /chatter --spin-time 4
```
```
[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener
Expand Down
11 changes: 7 additions & 4 deletions SROS2_Windows.md
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Original file line number Diff line number Diff line change
Expand Up @@ -129,24 +129,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
set ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
```

Then use the CLI as usual:
Then use the CLI with `--no-daemon` and `--spin-time`:

> [!NOTE]
> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.

```bat
ros2 node list
ros2 node list --no-daemon --spin-time 4
```
```
/talker
```
```bat
ros2 topic list
ros2 topic list --no-daemon --spin-time 4
```
```
/chatter
/parameter_events
/rosout
```
```bat
ros2 topic echo /chatter
ros2 topic echo /chatter --spin-time 4
```
```
[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener
Expand Down
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