I am running a ROS2 node on Machine 1, micro XRCE-DDS Agent on Machine2 and micro XRCE-DDS Client on a third machine. Machine 1,2 and 3 are x86 based machine running ubuntu20. I am trying to setup communication between all three machines. I am trying to understand how the discovery happen on both sides. I have attached a flow diagram that asks specific questions and includes a the general flow as I understand.
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I am running a ROS2 node on Machine 1, micro XRCE-DDS Agent on Machine2 and micro XRCE-DDS Client on a third machine. Machine 1,2 and 3 are x86 based machine running ubuntu20. I am trying to setup communication between all three machines. I am trying to understand how the discovery happen on both sides. I have attached a flow diagram that asks specific questions and includes a the general flow as I understand.