forked from Archive/PX4-Autopilot
add support to FastRTPS 2.0.0 (Fast-DDS)
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d8831c5133
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@ -90,7 +90,11 @@ bool @(topic)_Publisher::init()
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{
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// Create RTPSParticipant
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ParticipantAttributes PParam;
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@[if version.parse(fastrtps_version[:3]) < version.parse('2.0')]@
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PParam.rtps.builtin.domainId = 0;
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@[else]@
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PParam.domainId = 0;
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@[end if]@
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@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
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PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
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@[else]@
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@ -90,7 +90,11 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
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// Create RTPSParticipant
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ParticipantAttributes PParam;
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PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
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@[if version.parse(fastrtps_version[:3]) < version.parse('2.0')]@
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PParam.rtps.builtin.domainId = 0;
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@[else]@
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PParam.domainId = 0;
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@[end if]@
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@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
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PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
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@[else]@
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