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microRTPS: allow communications only in the localhost network when ROS_LOCALHOST_ONLY env variable is set

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This commit is contained in:
TSC21
2021-06-21 16:36:44 +02:00
committed by Nuno Marques
parent 578e426e9e
commit 323ce797f8
3 changed files with 42 additions and 3 deletions
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msg/templates/urtps/microRTPS_agent.cpp.em
+6 -1
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@@ -22,7 +22,7 @@ recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumer
/****************************************************************************
*
* Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
@@ -230,6 +230,11 @@ int main(int argc, char** argv)
printf("\033[0;37m--- MicroRTPS Agent ---\033[0m\n");
printf("[ micrortps_agent ]\tStarting link...\n");
const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
if (localhost_only && strcmp(localhost_only, "1") == 0) {
printf("[ micrortps_agent ]\tUsing only the localhost network for data sharing...\n");
}
switch (_options.transport)
{
case options::eTransports::UART: