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iRobot® Create® 3 Webserver - Override RMW Profile

The Override RMW Profile page of the Create® 3 webserver allows the user to override the robot's inbuilt RMW profiles for its middleware.

Warning

Please note that this is a beta feature, and as such is not supported by the customer service team. Please exercise caution, as improper use of beta features may result in an inoperable robot.

Picture of Override RMW Profile page

Usage

This page allows the user to replace the robot's middleware XML profile file with one of their choosing. Leave this box blank in order to use the robot's default profile file.

Important

After pressing "save," the application must be restarted.

More details about the XML configuration file can be found on respective vendor sites:

Example for Cyclone DDS

Replace INTERFACE with interface(s) of choice (for example, usb0,wlan0 to communicate on both the USB and Wi-Fi interfaces)

<CycloneDDS>
   <Domain>
     <General>
        <NetworkInterfaceAddress>INTERFACE</NetworkInterfaceAddress>
    </General>
   </Domain>
</CycloneDDS>

Example for Fast DDS

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>udp_transport</transport_id>
            <type>UDPv4</type>
            <maxMessageSize>65000</maxMessageSize>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="broadcast_discovery" is_default_profile="true">
       <rtps>
            <userTransports>
                <transport_id>udp_transport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
       </rtps>
    </participant>
</profiles>

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