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[ROS2][feat] Add domain_id parameter in launch files

Tong Fu requested to merge ROS2/feat/AddDomainId into feat/ROS2


To avoid interference between different groups of computers running ROS2 on the same network, a different domain ID should be set for each group.


  • Add domain_id parameter in each launch file to manage ROS_DOMAIN_ID
  • Set enviroment variable ROS_DOMAIN_ID in each launch file


Commands to set domain_id

ros2 launch lidar_slam domain_id:=3

ROS_DOMAIN_ID=3 ros2 bag play --clock path/to/bag

Edited by Julia Sanchez

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