rs-dds-adapter tool

Goal

This tool (the server) is expected to run with a matching running client librealsense application (potentially on another machine) to demonstrate how the SDK can detect a RealSense device being connected / disconnected on the server side while Client and Server are connected via ethernet.

NOTE: librealsense (both on client and server) needs to be built with BUILD_WITH_DDS=ON CMake flag

Description

This tool will run and monitor the librealsense devices_changed callback.

If the tool detects a device dis/connection, it will notify the client using the DDS protocol.

Command Line Parameters

Flag	Description	Default
-h/--help	Show command line help menu
-d/--domain < ID >	Publish devices on domain < ID >	0

Expected Output

Assuming a running librealsense is found on the client side and network connection is stable, we expect to see prints like:

Participant discovered --> The adapter found a valid client

Device <device_name> - added --> The device was added and a matching DDS data writer was created and publish the device information.

Device <device_name> - removed --> The device was removed and a matching DDS data writer was destructed.