Adding ROS 2 introspection as SUPER_CLIENT about dds-router

[jparisu]

Hi @royito55

Your configuration file seems fine to your scenario.
What you are experiencing here is a performance feature in DDS Router that makes the router to no create endpoints until there is a DataReader (ROS2 subscription) in the network. This reduces the amount of DDS Entities that are created in the DDS Router application and the traffic it routes, and thus improves the efficiency.

Nevertheless, we have lately seen the necessity to add a configuration feature that allows to disable such feature.
Once this feature is implemented and uploaded we will notify you.

Extra comment

There is no need to use XML configuration in your fastdds discovery application, as it is already a Server, so setting it as SuperClient will have no effect.
Also, XML configuration has no effect in DDS Router (yet, we are working on a new Participant kind).