Add tutorial on how to avoid fully-connected network in ROS 2 (#222)

* Add tutorial on how to avoid fully-connected network in ROS 2

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Change tutorial to Wifi & Large data tutorials, delete tabs and add an introductory section

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Apply suggested changes

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Add missing blank space in yaml file

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Fix spelling

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Fix end of file

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

---------

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>
(cherry picked from commit 108f0bd)

# Conflicts:
#	docs/rst/tutorials/core/wifi/wifi_tutorials.rst

docs/rst/tutorials/core/wifi/router_fully_connected/router_fully_connected.rst

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+.. include:: ../../../../exports/alias.include
+
+.. _tutorials_router_fully_connected:
+
+How to avoid Fully-Connected Graph Networks in ROS 2
+====================================================
+
+.. contents::
+    :depth: 2
+    :local:
+    :backlinks: none
+
+Facing Scalability Challenges in Your ROS 2 System?
+---------------------------------------------------
+
+Have you ever struggled with scaling your ROS 2 network as it grows in size?
+As more nodes, topics, and services are added to a ROS 2 system, the underlying DDS (Data Distribution Service) quickly forms a fully-connected graph, meaning that every node discovers and communicates with every other node.
+While this setup guarantees robust connectivity, it can also lead to network congestion and high discovery traffic as the system scales, impacting performance and reliability.
+
+**Quick Solution Overview**
+
+Fortunately, there are tools designed to address these scalability challenges, such as the `DDS Router <https://eprosima-dds-router.readthedocs.io/en/latest/>`__.
+The |ddsrouter| Can encapsulate and route communications, allowing nodes in different domains or even separate LANs to exchange information without every node being directly connected.
+This selective routing minimizes traffic, making it possible to maintain high performance even in complex distributed systems.
+Basically, instead of communicating all the ROS 2 nodes in the same domain, separate them in different domains, routing the data through a |ddsrouter| with a a participant listening to the topics and another one transmitting them.
+The following configuration file illustrate an example of |ddsrouter| setup:
+
+.. code-block:: yaml
+
+    version: v4.0
+
+    participants:
+      - name: listening_participant
+        kind: simple
+        domain: 0                          # Publishers domain
+
+      - name: transmitting_participant
+        kind: simple
+        domain: 1                          # Subscribers domain
+
+After creating the configuration file, to start the |ddsrouter| just run:
+
+.. code:: bash
+
+    ddsrouter -c <path_to_configuration_file>
+
+Overview
+--------
+
+In this tutorial, we will explore how the DDS Router can be used to reduce unnecessary connections and streamline communication in a ROS 2 network with multiple hosts connected over the same WiFi network.
+On one host, we will run two video `publishers` of the ROS2 package ``image_tools`` node ``cam2image``, while on the other, we will set up two `subscribers` of the ``showimage`` node to receive the video streams.
+Instead of directly connecting the `publishers` and `subscribers` across the hosts (resulting in four total connections), we will streamline the communication by introducing a |ddsrouter|  on each host.
+
+By using |ddsrouter|, we can limit the communication to only two participants, one on each host, enhancing both control and efficiency.
+Each publisher will communicate solely with a local participant within the |ddsrouter|  on its host, rather than establishing connections with all remote subscribers.
+The local |ddsrouter|  participant then links to an XML-configured participant, which manages communication with the corresponding XML participant of the remote |ddsrouter|  on the other host.
+
+This approach minimizes direct cross-host connections, allowing for more scalable and controlled communication between publishers and subscribers across the network.
+
+.. figure:: /rst/figures/tutorials/cloud/fully_connected.svg
+   :align: center
+
+.. warning::
+
+    A brief theoretical overview will be provided for additional context.
+    However, readers may skip directly to the :ref:`tutorials_router_fully_connected_prerequisites` section if they prefer to start with the setup steps.
+
+Background
+----------
+
+In ROS 2, communication between nodes, including publishers, subscribers, service clients, and servers, is managed by DDS (Data Distribution Service).
+This results in a fully-connected graph where every node in the network must discover and communicate with every other node.
+While this approach ensures robustness and flexibility, it also means that as the number of participants grows, so does the network traffic associated with discovery and communication.
+
+Each participant in the network must be aware of all other participants, leading to an n² growth in discovery traffic as the system expands.
+This can make large networks more complex to manage, especially when many topics and services are involved.
+The discovery process can generate significant traffic, and when new nodes join, the network can experience a surge in communication, affecting performance.
+
+To improve the efficiency of discovery in large-scale ROS 2 networks, tools like the `Discovery Server <https://fast-dds.docs.eprosima.com/en/latest/fastdds/discovery/discovery_server.html#discovery-server>`__ can be used.
+The Discovery Server centralizes the discovery process, enabling nodes to connect to a central point rather than independently discovering all other nodes.
+This reduces network traffic and simplifies node management.
+There are `tutorials <https://docs.vulcanexus.org/en/latest/rst/tutorials/core/discoveryserver/discoveryserver_tutorials.html>`__ available that explain how to integrate the Discovery Server into your ROS 2 network, providing practical steps to optimize discovery and scaling in larger deployments.
+
+DDS Router
+^^^^^^^^^^
+
+In addition to the Discovery Server, another powerful tool is the `DDS Router <https://eprosima-dds-router.readthedocs.io/en/latest/>`__.
+The DDS Router allows users to create a communication bridge that connects two otherwise isolated DDS networks.
+It enables **encapsulation and routing** of DDS communications across physically or virtually separated LANs, allowing participants from different networks to publish and subscribe to both local and remote topics seamlessly.
+
+The *DDS Router* works by internally running **Participants**, which act as communication interfaces to various DDS networks.
+Each Participant connects to a different DDS network, and when a message is received on one network, the DDS Router forwards it to the others.
+This architecture allows systems with different transport protocols, discovery mechanisms, or domain IDs to communicate with each other without manual intervention.
+The DDS Router also supports a **zero-copy communication** mechanism, ensuring efficient data transmission by sharing memory pointers between Participants without copying data.
+
+The *DDS Router* can significantly alleviate the challenges posed by the fully-connected graph of participants in DDS, which makes it difficult to scale large networks.
+By routing communication between different DDS networks, the DDS Router reduces the need for all participants to directly discover and connect with each other.
+This selective encapsulation helps control and minimize the network traffic caused by the full discovery process, making it easier to manage systems with many nodes, topics, and participants.
+As a result, the *DDS Router* provides a scalable solution for large ROS 2 networks, optimizing resource usage and improving overall performance.
+
+.. _tutorials_router_fully_connected_prerequisites:
+
+Prerequisites
+-------------
+
+It is required to have previously installed Vulcanexus using one of the following installation methods:
+
+* `Linux binary installation <https://docs.vulcanexus.org/en/latest/rst/installation/linux_binary_installation.html>`__
+* `Linux installation from sources <https://docs.vulcanexus.org/en/latest/rst/installation/linux_source_installation.html>`__
+* `Docker installation <https://docs.vulcanexus.org/en/latest/rst/installation/docker.html>`__
+
+Run this tutorial
+-----------------
+
+To run this tutorial, start by publishing images on **Host A**.
+You’ll set up two publishers: one streaming images from the webcam and another streaming a predefined image source.
+This will publish to the topic ``image``:
+
+.. code:: bash
+
+    ROS_DOMAIN_ID=0 ros2 run image_tools cam2image --ros-args -p reliability:=best_effort
+
+And this will publish on the topic ``burger``:
+
+.. code:: bash
+
+    ROS_DOMAIN_ID=0 ros2 run image_tools cam2image --ros-args -r image:=burger -p burger_mode:=True -p reliability:=best_effort
+
+Next, run the subscriber nodes on **Host B** for each topic.
+Assign these nodes to a different domain to prevent direct communication between the publishers and subscribers:
+
+.. code:: bash
+
+    ROS_DOMAIN_ID=2 ros2 run image_tools showimage --ros-args -p reliability:=best_effort
+
+.. code:: bash
+
+    ROS_DOMAIN_ID=2 ros2 run image_tools showimage --ros-args -r image:=burger -p reliability:=best_effort
+
+Finally, set up a |ddsrouter| in each domain to manage and filter communication between the hosts.
+This setup will ensure that messages are only passed between two participants, reducing cross-host traffic while maintaining a stable connection.
+
+Each |ddsrouter| will contain a local participant assigned to the same domain as the ROS 2 nodes running on its host, as well as an XML-configured participant optimized for efficient large data communication (see `this tutorial <https://docs.vulcanexus.org/en/latest/rst/tutorials/core/wifi/large_data/large_data.html>`__ for more details).
+In this configuration, publishers and subscribers will exchange data with the local participant within their host’s router.
+This local participant will then handle forwarding the data to the XML participant, enabling seamless communication across hosts.
+
+To configure communication on **Host A**, we create the following YAML configuration file.
+This file defines the participants, their types, and specifies an XML file for additional configuration details:
+
+.. code-block:: yaml
+
+    version: v4.0
+
+    xml:
+      files:
+        - "<path_to_xml>"
+
+    participants:
+      - name: ROS2_Domain_0
+        kind: simple
+        domain: 0
+
+      - name: ROS2_large_data_A
+        kind: xml
+        profile: large_data_participant
+
+In this configuration, the participant named ``ROS2_large_data_A`` uses an XML profile called ``large_data_participant``, which is tailored to handle large data transfers.
+The following XML file specifies the settings for the `large data <https://fast-dds.docs.eprosima.com/en/latest/fastdds/use_cases/tcp/tcp_large_data_with_options.html>`_ participant:
+
+.. code-block:: xml
+
+    <?xml version="1.0" encoding="UTF-8"?>
+
+    <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+      <profiles>
+        <participant profile_name="large_data_participant">
+          <domainId>1</domainId>
+          <rtps>
+            <builtinTransports max_msg_size="1MB" sockets_size="1MB" non_blocking="true" tcp_negotiation_timeout="50">LARGE_DATA</builtinTransports>
+          </rtps>
+        </participant>
+      </profiles>
+    </dds>
+
+Now, let’s configure **Host B** with a similar YAML setup.
+This configuration enables Host B to communicate effectively within the same large-data framework as Host A:
+
+.. code-block:: yaml
+
+    version: v4.0
+
+    xml:
+      files:
+        - "<path_to_xml>"
+
+    participants:
+      - name: ROS2_Domain_2
+        kind: simple
+        domain: 2
+
+      - name: ROS2_large_data_B
+        kind: xml
+        profile: large_data_participant
+
+With the following XML file:
+
+.. code-block:: xml
+
+    <?xml version="1.0" encoding="UTF-8"?>
+
+    <dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+      <profiles>
+        <participant profile_name="large_data_participant">
+          <domainId>1</domainId>
+          <rtps>
+            <builtinTransports max_msg_size="1MB" sockets_size="1MB" non_blocking="true" tcp_negotiation_timeout="50">LARGE_DATA</builtinTransports>
+          </rtps>
+        </participant>
+      </profiles>
+    </dds>
+
+Once the configuration files are ready, run the |ddsrouter| in each host with:
+
+.. code:: bash
+
+    ddsrouter -c <path_to_yaml_configuration_file>
+
+Now, each publisher and subscriber communicates solely with its local router, which then manages and optimizes data transfer between the hosts.
+This configuration ensures efficient, controlled data flow, minimizing network load while providing reliable large data communication across the WiFi network.
+
+Conclusions
+-----------
+
+By setting up a |ddsrouter| on each host, this tutorial demonstrates a more efficient and scalable approach to managing ROS 2 communications over a network.
+With only two participants handling cross-host communication, the system avoids the typical fully-connected graph structure, which can cause network traffic and complexity to grow as nodes are added.
+
+This selective routing solution reduces unnecessary data transmission between publishers and subscribers, ensuring that only essential information passes between hosts.
+As a result, we achieve a stable, optimized network structure that maintains data integrity while minimizing bandwidth usage, making it suitable for larger or bandwidth-sensitive deployments.
+The setup provides both robustness and scalability, offering a solid foundation for complex, distributed ROS 2 applications.

docs/rst/tutorials/core/wifi/wifi_tutorials.rst

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+.. _tutorials_wifi_ros2_tutorials:
+
+Vulcanexus WiFi & Large Data Tutorials
+======================================
+
+Configuring ROS 2 applications over WiFi networks can present multiple challenges.
+This series of tutorials is designed to help address common issues that arise when using ROS 2 over WiFi networks, where latency, packet loss, and bandwidth limitations can affect application performance and reliability.
+
+.. toctree::
+    :maxdepth: 1
+
+    wifi_issues_tutorial/wifi_issues_tutorial
+    large_data/large_data.rst
+    router_fully_connected/router_fully_connected