Add ROS 2 CLI module to Fast DDS Discovery Server Tutorial

[jparisu]

Update in Fast DDS Discovery Server Tutorial for ROS 2.

New paragraph: ROS 2 Introspection. It explains how to use ROS 2 Introspection with ROS 2 CLI and ROS 2 Daemon using the Fast DDS Discovery Server.

Signed-off-by: jparisu [email protected]

[jparisu]

Hi @clalancette , could you please take a look at this tutorial extension for Fast DDS Discovery Server in ROS 2 Foxy? This came from an issue in fastrtps_rmw https://github.com/ros2/rmw_fastrtps/issues/499 and it extends the Discovery Server explanation.

[jparisu]

@clalancette, @hidmic Thank you for your revisions. Please @hidmic , check if the new updates in the changes you requested please you, and close them if so.

[jparisu]

This Pull Request has been marked as draft till the new features of Fast-DDS Discovery Server has been merged in Fast-DDS library and the documentation has been updated. https://github.com/eProsima/Fast-DDS/pull/1763

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/discovery-problems-with-the-discovery-server/19900/3

[hidmic]

@jparisu is this ready to be re-reviewed?

[jparisu]

Sorry for the delay, we have been very busy lately. It is not ready, as we have implemented a new feature just for this specific propose that we would like it to appear in the tutorial. I will add it and set it as ready ASAP.

[clalancette]

@jparisu This has been sitting for quite a while, is this close to being ready, or can we close it out?

[EduPonz]

@jparisu This has been sitting for quite a while, is this close to being ready, or can we close it out?

Let me add this to the list for next week!

[clalancette]

Let me add this to the list for next week!

Thanks, appreciated.

[clalancette]

I'm going to close this PR for now, as it has been in draft for a long time and still seems to need some work to complete. Feel free to reopen it once it is ready to be reviewed.