This is the shipped English man-page reference for zerodds-ros2-shim — the same text as man zerodds-ros2-shim. The surrounding navigation follows the language switch; the reference body stays English, as man-pages conventionally do.
Dies ist die ausgelieferte englische man-page-Referenz für zerodds-ros2-shim — derselbe Text wie man zerodds-ros2-shim. Navigation und Seitenrahmen folgen dem Sprach-Umschalter; der Referenz-Body bleibt englisch, wie man-pages es konventionell tun.
NAME
zerodds-ros2-shim - ROS-2 RMW shim and diagnostics
SYNOPSIS
zerodds-ros2-shim [-c FILE] [--watch] [--graph-dump FILE] [--validate-only] [-V | -h]
DESCRIPTION
zerodds-ros2-shim is the diagnose- and bridge-companion to rmw_zerodds_cpp, the RMW implementation that lets ROS-2 nodes use ZeroDDS as their underlying middleware. The CLI in default mode prints the live ROS-graph; with --watch it stays attached and emits structured updates whenever nodes/topics appear. Implements zerodds-ros2-bridge-1.0(7).
OPTIONS
-c,--watch,--graph-dump=FILE,--validate-only,-V,-h.
ENVIRONMENT
- RMW_IMPLEMENTATION
-
Set to rmw_zerodds_cpp to route the rcl-stack through ZeroDDS.
- ROS_DOMAIN_ID
-
Standard ROS-2 domain id; mapped 1:1 onto DDS-Domain-ID.
FILES
/etc/zerodds/ros2-shim.yaml, /var/lib/zerodds/ros2-graph.json.
SEE ALSO
zerodds-ros2-shim.yaml(5), ros2cli(1).
AUTHORS
ZeroDDS Contributors.