Refs 12349: Update fds help

Signed-off-by: Eduardo Ponz Segrelles <eduardoponz@eprosima.com>
eProsima · Aug 12, 2021 · 460f8e3 · 460f8e3
1 parent 0db3853
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Showing 2 changed files with 17 additions and 5 deletions.
diff --git a/tools/fds/README.txt b/tools/fds/README.txt
@@ -7,8 +7,9 @@ General options:
   -i  --server-id  Mandatory unique server identifier. Specifies zero based
                    server position in ROS_DISCOVERY_SERVER environment variable.
 
-  -l  --ip-address Server interface chosen to listen the clients. Defaults
-                   to any (0.0.0.0)
+  -l  --ip-address IPv4 address chosen to listen the clients. Defaults
+                   to any (0.0.0.0). Instead of an address, a name can
+                   be specified.
 
   -p  --port       UDP port chosen to listen the clients. Defaults to 11811
 
@@ -41,3 +42,8 @@ Examples:
 
       $ fast-discovery-server -i 1 -l 172.30.144.1 -p 12345 -b
 
+      5. Launch a default server with id 0 (first on ``ROS_DISCOVERY_SERVER``)
+         listening on localhost with UDP port 14520. Only localhost clients
+         can reach the server defining as `ROS_DISCOVERY_SERVER=localhost:14520`.
+
+      $ fastdds discovery -i 0 -l localhost -p 14520
diff --git a/tools/fds/server.h b/tools/fds/server.h
@@ -57,8 +57,9 @@ const option::Descriptor usage[] = {
       "\t             server position in ROS_DISCOVERY_SERVER environment variable.\n" },
 
     { IPADDRESS, 0, "l", "ip-address",   Arg::required,
-      "  -l \t--ip-address Server interface chosen to listen the clients. Defaults\n"
-      "\t             to any (0.0.0.0)\n" },
+      "  -l \t--ip-address IPv4 address chosen to listen the clients. Defaults\n"
+      "\t             to any (0.0.0.0). Instead of an address, a name can\n"
+      "\t             be specified."},
 
     { PORT,      0, "p",  "port",         Arg::check_udp_port,
       "  -p  \t--port       UDP port chosen to listen the clients. Defaults to 11811\n" },
@@ -89,7 +90,12 @@ const option::Descriptor usage[] = {
       "\t   listening on 172.30.144.1 with UDP port 12345 and provided with a\n"
       "\t   backup file. If the server crashes it will automatically restore its\n"
       "\t   previous state when reenacted.\n\n"
-      "\t$ " FAST_SERVER_BINARY " -i 1 -l 172.30.144.1 -p 12345 -b" },
+      "\t$ " FAST_SERVER_BINARY " -i 1 -l 172.30.144.1 -p 12345 -b\n\n"
+
+      "\t5. Launch a default server with id 0 (first on ROS_DISCOVERY_SERVER)\n"
+      "\t   listening on localhost with UDP port 14520. Only localhost clients\n"
+      "\t   can reach the server defining as ROS_DISCOVERY_SERVER=localhost:14520.\n\n"
+      "\t$ " FAST_SERVER_BINARY " -i 0 -l localhost -p 14520"},
 
     { 0, 0, 0, 0, 0, 0 }
 };