Addition of discovery server instructions (#417)

* Create new page + images on using Fast DDS discovery server
* Add example configuration files

---------

Co-authored-by: Darya Clark <[email protected]>
Co-authored-by: kwujciak <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>

Author: 4 people

docs/setup/data/app-config.png

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+        <participant profile_name="super_client_profile" is_default_profile="true">
+            <rtps>
+                <builtin>
+                    <discovery_config>
+                        <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
+                        <discoveryServersList>
+                            <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
+                                <metatrafficUnicastLocatorList>
+                                    <locator>
+                                        <udpv4>
+                                            <address>VM_IP</address>
+                                            <port>11811</port>
+                                        </udpv4>
+                                    </locator>
+                                </metatrafficUnicastLocatorList>
+                            </RemoteServer>
+                        </discoveryServersList>
+                    </discovery_config>
+                </builtin>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>

docs/setup/data/fastdds.png

@@ -0,0 +1,48 @@
+# Fast DDS Discovery Server
+
+This page gives instructions on how to use a Fast DDS discovery server with the Create® 3 robot as a client.
+For more information on the Fast DDS discovery server, please refer to the [eProsima documentation](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html).
+
+*We’ll use the term "computer" to refer to any SBC (single board computer), virtual machine, personal computer, etc.*
+
+## Configure Server
+
+1. Start the discovery server on the computer that you wish to use as your server by replacing <SERVER_IP> with the computer's IP address.
+
+        fastdds discovery -i 0 -l <SERVER_IP> -p 11811
+   
+     ![](./data/fastdds.png)
+
+## Configure Create® 3 Robot as a Client
+!!! important
+    If you have enabled the discovery server previously and wish to change the Wi-Fi network you are connected to, make sure the discovery server is disabled in the configuration settings **before** connecting it to a **new** Wi-Fi network.
+    The discovery server can be disabled by unchecking the "Enable Fast DDS discovery server?" checkbox in the [webserver application settings](../../webserver/application/), and then saving and restarting the application. 
+
+1. Make sure your Create® 3 robot is connected to Wi-Fi. If it isn't, follow the directions [here](../provision/).
+
+1. Navigate to the robot’s web server via its IP address.
+Go to [webserver application settings](../../webserver/application/) and enable the checkbox for the discovery server.
+In the field `Address and port of Fast DDS discovery server`, enter the IP address of your server followed by `:11811` (the default port for the Fast DDS discovery server is `11811`, but it is configurable).
+
+1. If you intend on connecting multiple robots to the same discovery server, make sure to give the Create® 3 robot a namespace.
+Restart the application after saving all settings.
+  ![](./data/app-config.png)
+
+!!! attention
+      It is recommended you check the [logs](../../webserver/logs/) to confirm the discovery server has been enabled on the robot. ![](./data/logs.png)
+
+## Configure Other Devices as Super Clients 
+When using a discovery server with a Create® 3 Robot, all other devices connected to the discovery server must be set up as super clients in order to communicate with the Create® 3 Robot.
+Other devices could be any device that runs ROS 2 and wants to communicate with the Create® 3 Robot.
+
+1. Before starting, stop the ROS 2 Daemon with `ros2 daemon stop`.
+
+1. Download the .xml file found [here](data/super_client_configuration_file.xml) and replace VM_IP with your device’s IP address.
+
+1. Navigate to your device and open terminal. If the super client and server are on the same computer, make sure to open a new terminal (separate terminal from where the server is running).
+
+1. Assign your .xml file as your default profile by entering the following.
+
+        export FASTRTPS_DEFAULT_PROFILES_FILE=/path/to/the/xml/profile
+
+1. Now, try looking for the Create® 3 topics list by running `ros2 topic list`.

docs/setup/data/logs.png

@@ -21,7 +21,12 @@ However, multicasting is often disabled on enterprise networks, and the [creator
 A complete overview of the multicast disabling process for both RMWs is outlined on the [ROS 2 Middleware Configuration](../xml-config) page. 
 
 #### Dedicated Network
-In cases where multiple robots will be using a busy network (e.g., university or corporate networks) or the existing network configuration is non-functional, creating a dedicated network for your Create® 3 robot can mitigate most issues. 
+In cases where multiple robots will be using a busy network (e.g., university or corporate networks) or the existing network configuration is non-functional, creating a dedicated network for your Create® 3 robot can mitigate most issues.
+
+#### Fast DDS Discovery Server
+The Fast DDS Discovery Server further limits discovery traffic by routing discovery through a single server. 
+This can avoid known issues with scaling and multicasting. 
+Instructions on how to set up a discovery server are outlined [here.](../discovery-server)
 
 ## Ethernet Over USB
 The Create® 3 robot has a USB-C® port that allows for ethernet network connectivity over USB.

docs/setup/data/super_client_configuration_file.xml

@@ -96,6 +96,7 @@ nav:
           - Galactic Config: setup/pi4galactic.md
           - Humble Config: setup/pi4humble.md
         - Network Time Protocol: setup/compute-ntp.md
+      - Fast DDS Discovery Server: setup/discovery-server.md
     - APIs:
       - ROS 2 Interface: api/ros2.md
       - Docking: api/docking.md