With the release of Fast DDS 2.0.1 (soon to be rolling on Foxy), we are also releasing an improved discovery server (See our new whitepaper here), targeting the scenarios we are seeing in the ROS Ecosystem. The new ROS discovery server comes with the following improvements:
1.- Easier configuration:
ROS_DISCOVERY_SERVER environment variable to easily setup where is the Discovery Server(s)
fast-discovery-server command-line tool, to easily create dedicated discovery servers.
2.- Faster Discovery: During the last month, we have been debugging specific scenarios (See our study here), in order to improve the discovery performance. The new discovery server implements fixes and new strategies to speed up the discovery process.