zhangrelay@LAPTOP-5REQ7K1L:~$ fastdds -h
usage: fastdds  []

    Commands:

        discovery     Server-Client discovery auxiliary generator

        shm           Shared-memory commands

    fastdds  [-h] shows command usage


positional arguments:
  command     Command to run

options:
  -h, --help  show this help message and exit
zhangrelay@LAPTOP-5REQ7K1L:~$ fastdds discovery -h

eProsima Server-Client discovery auxiliary generator tool version 1.0.0

Usage: fastdds discovery [optional parameters]
General options:
  -h  --help       Produce help message.

  -i  --server-id  Unique server identifier. Specifies zero based server
                   position in ROS_DISCOVERY_SERVER environment variable.

  -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

  -b  --backup     Creates a server with a backup file associated.

  -x  --xml-file   Gets config from XML file. If there is any argument in
                   common with the config of the XML, the XML argument will
                   be overriden. A XML file with several profiles will take
                   the profile with "is_default_profile="true"" unless
                   another profile using uri with "@" character is defined.

Examples:
      1. Launch a default server with id 0 (first on ROS_DISCOVERY_SERVER)
         listening on all available interfaces on UDP port 11811. Only one
         server can use default values per machine.

      $ fastdds discovery -i 0

      2. Launch a default server with id 1 (second on ROS_DISCOVERY_SERVER)
         listening on localhost with UDP port 14520. Only localhost clients
         can reach the server using as ROS_DISCOVERY_SERVER=;127.0.0.1:14520

      $ fastdds discovery -i 1 -l 127.0.0.1 -p 14520

      3. Launch a default server with id 2 (third on ROS_DISCOVERY_SERVER)
         listening on Wi-Fi (192.168.36.34) and Ethernet (172.20.96.1) local
         interfaces with UDP ports 8783 and 51083 respectively
         (addresses and ports are made up for the example).

      $ fastdds discovery -i 2 -l 192.168.36.34 -p 8783 -l 172.20.96.1 -p
      51083

      4. Launch a default server with id 3 (fourth on ROS_DISCOVERY_SERVER)
         listening on 172.30.144.1 with UDP port 12345 and provided with a
         backup file. If the server crashes it will automatically restore its
         previous state when reenacted.

      $ fastdds discovery -i 3 -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

      6. Launch a server with id 0 (first on ROS_DISCOVERY_SERVER) reading
         default configuration from XML file.

      $ fastdds discovery -i 0 -x config.xml

      6. Launch a server with id 0 (first on ROS_DISCOVERY_SERVER) reading
         specific profile_name configuration from XML file.

      $ fastdds discovery -i 0 -x profile_name@config.xml

zhangrelay@LAPTOP-5REQ7K1L:~$ fastdds discovery -i 1 -l 127.0.0.1 -p 14520