Update Fast DDS Suite documentation (#1315)

Signed-off-by: Raul Sanchez-Mateos <raul@eprosima.com>

Author: rsanchez15

docs/docker/fastdds_suite/fast_dds_suite.rst

@@ -7,55 +7,63 @@
 Fast DDS Suite Image
 ====================
 
-This Docker image contains the complete Fast DDS suite. This includes:
-
-- :ref:`eProsima Fast DDS libraries and examples <fast_dds_suite_examples>`: Fast DDS libraries bundled with several
-  examples that showcase a variety of capabilities of eProsima's Fast DDS implementation.
-
-- :ref:`Shapes Demo <fast_dds_suite_shapes_demo>`: eProsima Shapes Demo is an application in which Publishers and
-  Subscribers are shapes of different colors and sizes moving on a board. Each shape refers to its own topic: Square,
-  Triangle or Circle. A single instance of the eProsima Shapes Demo can publish on or subscribe to several topics at
-  a time.
+eProsima provides the *Fast DDS Suite* Docker image for those who want a Docker image with a set of eProsima's tools
+and libraries running on an Ubuntu platform.
+It can be downloaded from `eProsima's downloads page <https://eprosima.com/index.php/downloads-all>`_.
 
-  You can read more about this application on the `Shapes Demo documentation page <https://eprosima-shapes-demo.readthedocs.io/>`_.
-
-- :ref:`DDS Monitor <fast_dds_suite_monitor>`: eProsima DDS Monitor is a graphical desktop application aimed
-  at monitoring DDS environments deployed using the *eProsima Fast DDS* library. Thus, the user can monitor in real
-  time the status of publication/subscription communications between DDS entities. They can also choose from a wide
-  variety of communication parameters to be measured (latency, throughput, packet loss, etc.), as well as record and
-  compute in real time statistical measurements on these parameters (mean, variance, standard deviation, etc.).
+This Docker image contains the complete Fast DDS suite. This includes:
 
-  You can read more about this application on the `DDS Monitor documentation page
+- :ref:`eProsima Fast DDS library and examples <eprosima_dds_suite_examples>`: *Fast DDS* library bundled with several
+  examples that showcase a variety of capabilities of eProsima's *Fast DDS* implementation.
+  For more information about *Fast DDS* please refer to `Fast DDS documentation page
+  <https://fast-dds.docs.eprosima.com/>`_.
+
+- :ref:`DDS Monitor <eprosima_dds_suite_monitor>`: *eProsima DDS Monitor* is a graphical desktop application
+  aimed at monitoring DDS environments deployed using the *eProsima Fast DDS* library, which contains an open-source
+  version of the *DDS Monitor*.
+  Thus, the user can monitor the real time status of publication/subscription communications between DDS entities.
+  They can also choose which communication parameters are to be measured (latency, throughput,
+  packet loss, etc.), as well as record and compute real time statistical measurements on these parameters
+  (mean, variance, standard deviation, etc.).
+  For more information about *DDS Monitor* please refer to `DDS Monitor documentation page
   <https://dds-monitor.docs.eprosima.com/>`_.
 
-- :ref:`DDS Router <fast_dds_suite_dds_router>`: eProsima DDS Router is an end-user software application that enables
-  the connection of distributed DDS networks.
+- :ref:`DDS Router <eprosima_dds_router>`: *eProsima DDS Router* is an end-user software application that enables the
+  connection of distributed DDS networks.
   That is, DDS entities such as publishers and subscribers deployed in one geographic location and using a dedicated
   local network will be able to communicate with other DDS entities deployed in different geographic areas on their own
   dedicated local networks as if they were all on the same network through the use of eProsima DDS Router.
-  This is achieved by deploying a DDS Router on an edge device of each local network so that the DDS Router routes DDS
-  traffic from one network to the other through WAN communication.
-
-  You can read more about this application on the
+  For more information about *DDS Router* please refer to
   `DDS Router documentation website <https://eprosima-dds-router.readthedocs.io>`_.
 
-- :ref:`Plotjuggler eProsima Edition <fast_dds_suite_plotjuggler>`: eProsima Fast DDS Visualizer Plugin is a plugin
-  for the *PlotJuggler* application.
-  PlotJuggler is a graphical desktop application providing visualization features
-  of data series, time series, X-Y plots.
-  It also adds data management features, such as
-  data import and export, custom and built-in data manipulation functions,
-  data series merges, etc.
-  Also, this software supports many different layouts, with dynamic, rich and user-friendly customization.
-
-  You can read more about this application on the
-  `Plotjuggler eProsima Edition documentation website <https://plotjuggler-fastdds-plugins.readthedocs.io/en/latest/>`_.
+- :ref:`DDS Record & Replay <eprosima_dds_record_replay>`:
+  *eProsima DDS Record & Replay* is an end-user software application that efficiently saves DDS data published into
+  a DDS environment in a MCAP or SQLite format database.
+  Thus, the exact playback of the recorded network events is possible as the data is linked to the timestamp at which
+  the original data was published.
+  For more information about *eProsima DDS Record & Replay* please refer to
+  `DDS Record & Replay documentation website <https://dds-recorder.readthedocs.io>`_.
+
+- :ref:`Fast DDS Spy <eprosima_fast_dds_spy>`:
+  *eProsima Fast DDS Spy* is a CLI interactive tool that allows to introspect a DDS network in human readable format.
+  It is possible to query the network about the DomainParticipants connected, their endpoints
+  (DataWriters and DataReaders) and the topics they communicate in, as well as see the data being sent through the
+  network.
+  For more information about *eProsima Fast DDS Spy* please refer to
+  `Fast DDS Spy documentation website <https://fast-dds-spy.readthedocs.io>`_.
+
+- :ref:`Shapes Demo <eprosima_dds_suite_shapes_demo>`: *eProsima Shapes Demo* is an application in which Publishers and
+  Subscribers create and display shapes of different colors and sizes moving on a board.
+  Each shape refers to its own topic: Square, Triangle or Circle.
+  A single instance of the *eProsima Shapes Demo* can publish on and/or subscribe to several topics at a time.
+  For more information about *Shapes Demo* please refer to `Shapes Demo documentation page
+  <https://eprosima-shapes-demo.readthedocs.io/>`_.
 
 To load this image into your Docker repository, from a terminal run
 
 .. code-block:: bash
 
-    docker load -i "ubuntu-fastdds-suite <FastDDS-Version>.tar"
+    docker load -i "ubuntu-fastdds-suite_<fastdds-version>.tar"
 
 You can run this Docker container as follows
 
@@ -69,18 +77,21 @@ From the resulting Bash Shell you can run each feature.
 
 .. _fast_dds_suite_examples:
 
+.. _eprosima_dds_suite_examples:
+
 Fast DDS Examples
 -----------------
 
 Included in this Docker container is a set of binary examples that showcase several functionalities of the
-Fast DDS libraries. These examples' path can be accessed from a terminal by typing
+*Fast DDS* library.
+These examples' path can be accessed from a terminal by typing
 
 .. code-block:: bash
 
     goToExamples
 
-From this folder you can access all examples, both for DDS and RTPS. We detail the steps to launch two such
-examples below.
+This will change the working directory to a location containing several examples, both for DDS and RTPS.
+Below are the steps to launch two such examples.
 
 Hello World Example
 ^^^^^^^^^^^^^^^^^^^
@@ -90,61 +101,72 @@ This is a minimal example that will perform a Publisher/Subscriber match and sta
 .. code-block:: bash
 
     goToExamples
-    cd hello_world/bin
-    tmux new-session "./hello_world publisher" \; \
-        split-window "./hello_world subscriber" \; \
+    cd HelloWorldExample/bin
+    tmux new-session \
+        "./HelloWorldExample publisher 0 1000" \; \
+        split-window "./HelloWorldExample subscriber" \; \
         select-layout even-vertical
 
-This example is not constrained to the current instance. It's possible to run several instances of this
-container to check the communication between them by running the following from each container.
+This example is not constrained to the current image instance, meaning that it is possible to run several instances of
+this container to check the communication between them.
+From one terminal you could launch an image and, on the presented shell, run:
 
 .. code-block:: bash
 
     goToExamples
-    cd hello_world/bin
-    ./hello_world publisher
+    cd HelloWorldExample/bin
+    ./HelloWorldExample publisher
 
-or
+And then from another terminal with another instance run the following:
 
 .. code-block:: bash
 
     goToExamples
-    cd hello_world/bin
-    ./hello_world subscriber
+    cd HelloWorldExample/bin
+    ./HelloWorldExample subscriber
 
-.. _fast_dds_suite_shapes_demo:
+Benchmark Example
+^^^^^^^^^^^^^^^^^
 
-Shapes Demo
------------
+This example creates either a Publisher or a Subscriber and, after a successful match, starts sending samples.
+After a few seconds the process that launched the Publisher will show a report with the number of samples transmitted.
 
-To launch the Shapes Demo, from a terminal run
+On the subscriber side, run:
 
 .. code-block:: bash
 
-    ShapesDemo
+    goToExamples
+    cd Benchmark/bin
+    ./Benchmark subscriber udp
 
-eProsima Shapes Demo usage information can be found on the `Shapes Demo documentation
-<https://eprosima-shapes-demo.readthedocs.io/en/latest/first_steps/first_steps.html>`_.
+On the publisher side, run:
+
+.. code-block:: bash
+
+    goToExamples
+    cd Benchmark/bin
+    ./Benchmark publisher udp
 
-.. _fast_dds_suite_monitor:
+.. _eprosima_dds_suite_monitor:
 
 DDS Monitor
 -----------
 
-To launch DDS Monitor, from a terminal run
+To launch *DDS Monitor*, from a terminal run:
 
 .. code-block:: bash
 
     dds_monitor
 
-eProsima DDS Monitor user manual can be found on the `DDS Monitor documentation
+*eProsima DDS Monitor* User Manual can be located on the `DDS Monitor documentation
 <https://dds-monitor.docs.eprosima.com/en/latest/rst/user_manual/initialize_monitoring.html>`_.
 
-.. _fast_dds_suite_dds_router:
+.. _eprosima_dds_router:
 
 DDS Router
 ----------
-This example configures a DDS Router to communicate a publisher and subscriber running in different DDS Domains.
+
+In this example the DDS Router is configured to communicate a publisher and subscriber running in different DDS Domains.
 
 Run the following command to create the DDS Router *yaml* configuration file (``/config.yml``).
 
@@ -165,25 +187,61 @@ DDS Router communicating both Domains.
 .. code-block:: bash
 
     goToExamples
-    cd configuration/bin
+    cd DDS/BasicConfigurationExample/bin
     tmux new-session \
         "ddsrouter --config-path /config.yml" \; \
-        split-window -h "./configuration publisher --domain 0 --interval 1000 --transport udp" \; \
-        split-window -v "./configuration subscriber --domain 1 --transport udp"
+        split-window -h "./BasicConfigurationExample publisher --domain 0 --interval 1000 --transport udp" \; \
+        split-window -v "./BasicConfigurationExample subscriber --domain 1 --transport udp"
+
+.. _eprosima_dds_record_replay:
 
-eProsima DDS Router usage information can be found on the `DDS Router documentation
-<https://eprosima-dds-router.readthedocs.io/en/latest/rst/getting_started/project_overview.html>`_.
+DDS Record & Replay
+-------------------
 
-.. _fast_dds_suite_plotjuggler:
+DDS Record & Replay is composed of two different tools: DDS Recorder and DDS Replayer.
+DDS Recorder allows to record DDS traffic in a specific domain, storing all data in an MCAP file.
+To launch DDS Recorder, from a terminal run:
 
-PlotJuggler eProsima Edition
-----------------------------
+.. code-block:: bash
+
+ $ ddsrecorder
+
+Recorded data can then be inspected through visualization applications such as `Foxglove Studio
+<https://foxglove.dev/>`_.
+It is also possible to play data back in the same domain or a different one by leveraging DDS Replayer.
+To launch DDS Replayer, from a terminal run:
+
+.. code-block:: bash
+
+ $ ddsreplayer -i my_data.mcap
+
+For more information on how to configure and use DDS Record & Replay, please refer to
+`DDS Record & Replay documentation website <https://dds-recorder.readthedocs.io>`_.
+
+.. _eprosima_fast_dds_spy:
+
+Fast DDS Spy
+------------
+
+To launch Fast DDS Spy, from a terminal run:
 
-To launch the PlotJuggler eProsima Edition, from a terminal run
+.. code-block:: bash
+
+ $ fastddsspy
+
+Fast DDS Spy usage information can be found on the `Fast DDS Spy User Manual
+<https://fast-dds-spy.readthedocs.io/en/latest/rst/user_manual/usage_example.html/>`_.
+
+.. _eprosima_dds_suite_shapes_demo:
+
+Shapes Demo
+-----------
+
+To launch the *Shapes Demo*, from a terminal run:
 
 .. code-block:: bash
 
-     plotjuggler
+    ShapesDemo
 
-eProsima PlotJuggler eProsima Edition usage information can be located on the `PlotJuggler eProsima Edition User Manual
-<https://plotjuggler-fastdds-plugins.readthedocs.io/en/latest/>`_.
+*eProsima Shapes Demo* usage information can be found on the `Shapes Demo documentation
+<https://eprosima-shapes-demo.readthedocs.io/en/latest/first_steps/first_steps.html>`_.