mxgrey
commented
1 year ago Overview of domain tag concept.
How to configure domain tags will differ between the DDS vendors. Here are the documents I can find:
- CycloneDDS (:heavy_check_mark:)
- RTI Connext (:warning: Seems to only be available through the C++ API. I can't find a way to configure it from an external XML.)
- FastDDS (:stop_sign: no mention of domain tag, possibly not an available feature yet)
It looks like domain tags were introduced in DDSI-RTPS spec v2.3 (ctrl+f "domainTag") which was published in 2019. As a result, it seems to not be fully supported by all vendors.
See Slack discussion: https://drakedevelopers.slack.com/archives/C01B5B320QY/p1677635620675329?thread_ts=1677628587.665409&cid=C01B5B320QY
TL;DR Can help for additional DDS-layer rejection so we could have process-guided isolation. It is probably still worthwhile to keep our IP + port-based hashing to avoid actual network traffic, but we can decrease the chance of at least DDS cross-talk by adding the domain tag as an additional process-specific discriminator.
\cc @sloretz @mxgrey