@@ -252,6 +252,44 @@ The following example shows how to set the address of two remote discovery serve
252252 (that has been initialized with this environment variable previously) if loaded from an environment file using
253253 :ref: `env_vars_fastdds_environment_file `.
254254
255+ .. _env_vars_easy_mode :
256+
257+ ``ROS2_EASY_MODE ``
258+ ------------------
259+
260+ Setting ``ROS2_EASY_MODE `` to an IP value allows a participant to automatically enter the
261+ `Discovery Server Easy Mode <https://docs.vulcanexus.org/en/latest/rst/enhancements/easy_mode/easy_mode.html >`__.
262+ This mode completely disables **multicast communication **, and relies on Discovery Servers for discovery purposes.
263+
264+ With ``ROS2_EASY_MODE `` a new Discovery Server will be automatically spawned locally in the given
265+ :ref: `domain<dds_layer_domain> `, pointing to another Discovery Server located in the specified IP.
266+ If the specified IP belongs to the same host, it will only work in localhost, until another host connects to it.
267+ If there exists a Discovery Server for that domain, the spawn process will be skipped, relying on the existing server
268+ for discovery purposes.
269+ Therefore, only one Discovery Server per host will be present in the domain.
270+
271+ In order for this variable to take effect, the participant must have its
272+ :ref: `discovery protocol<discovery_protocol> ` set to |SIMPLE | (default), to automatically enter the
273+ `Discovery Server Easy Mode <https://docs.vulcanexus.org/en/latest/rst/enhancements/easy_mode/easy_mode.html >`__.
274+ If this happens, the participant will be configured as a |SUPER_CLIENT | pointing to the local server.
275+
276+ The following example will configure participants as |SUPER_CLIENT | pointing to a local Discovery Server,
277+ which will try to connect to another Discovery Server located in the host ``10.0.0.1 ``.
278+
279+ .. code-block :: bash
280+
281+ export ROS2_EASY_MODE=10.0.0.1
282+
283+ :ref: `listening_locators_defaultPorts `.
284+ The transports configured in this new mode include :ref: `UDP<transport_udp_udp> ` unicast for discovery and
285+ :ref: `TCP<transport_tcp_tcp> ` and :ref: `Shared Memory<transport_sharedMemory_sharedMemory> ` for user data.
286+
287+ A detailed tutorial can be found in the
288+ `Vucanexus Easy Mode Tutorial <https://docs.vulcanexus.org/en/latest/rst/tutorials/core/wifi/easy_mode/easy_mode.html >`__ documentation.
289+
290+ .. warning ::
291+ Discovery Server ``ROS2_EASY_MODE `` is not yet available for Windows platforms.
292+
255293.. _env_vars_ros_super_client :
256294
257295``ROS_SUPER_CLIENT ``
0 commit comments