MAVLINKHUD
Download Android App Professional ArduPilot Ground Station
Full Parameter PDF

Overview

The DOMAIN parameter group (specifically DOMAIN_ID) allows configuring the ROS 2 Domain ID for the DDS interface.

Note: This is often an alias or legacy name for DDS_DOMAIN_ID.

Key Concepts

1. ROS 2 Domains

In ROS 2, the "Domain ID" isolates groups of robots.

  • Domain 0: Default.
  • Domain 1-232: Alternate domains.

Parameter Breakdown

  • DOMAIN_ID: Integer ID.

Integration Guide

  • Match: This value must match the ROS_DOMAIN_ID environment variable set on your companion computer (Raspberry Pi/Jetson). If they differ, the robot will not receive messages.

Developer Notes

  • Library: libraries/AP_DDS.

DOMAIN_ID

Default 0
Range 0 232

DDS Domain ID (DOMAIN_ID)

Description

Matches the ArduPilot DDS client to a specific ROS2 logical network (domain). Only nodes with the same Domain ID can communicate with each other.

Tuning & Behavior

  • Default Value: 0
  • Range: 0 to 232
  • Must match the ROS_DOMAIN_ID environment variable on your companion computer.
View Source
Docking Mode (DOCK) Driver Options (DRV)