add --no-daemon and --spin-time explanation in readme.

Signed-off-by: Tomoya Fujita <[email protected]>
ros2 · May 8, 2024 · 2283fe0 · 2283fe0
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diff --git a/SROS2_Linux.md b/SROS2_Linux.md
@@ -120,24 +120,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
 export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
 ```
 
-Then use the CLI as usual:
+Then use the CLI with `--no-daemon` and `--spin-time`:
+
+> [!NOTE]
+> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.
 
 ```bash
-ros2 node list
+ros2 node list --no-daemon --spin-time 3
 ```
 ```
 /talker
 ```
 ```bash
-ros2 topic list
+ros2 topic list --no-daemon --spin-time 3
 ```
 ```
 /chatter
 /parameter_events
 /rosout
 ```
 ```bash
-ros2 topic echo /chatter
+ros2 topic echo /chatter --spin-time 3
 ```
 ```
 [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener

diff --git a/SROS2_MacOS.md b/SROS2_MacOS.md
@@ -130,24 +130,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
 export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
 ```
 
-Then use the CLI as usual:
+Then use the CLI with `--no-daemon` and `--spin-time`:
+
+> [!NOTE]
+> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.
 
 ```bash
-ros2 node list
+ros2 node list --no-daemon --spin-time 3
 ```
 ```
 /talker
 ```
 ```bash
-ros2 topic list
+ros2 topic list --no-daemon --spin-time 3
 ```
 ```
 /chatter
 /parameter_events
 /rosout
 ```
 ```bash
-ros2 topic echo /chatter
+ros2 topic echo /chatter --spin-time 3
 ```
 ```
 [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener

diff --git a/SROS2_Windows.md b/SROS2_Windows.md
@@ -129,24 +129,27 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n
 set ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener
 ```
 
-Then use the CLI as usual:
+Then use the CLI with `--no-daemon` and `--spin-time`:
+
+> [!NOTE]
+> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network.
 
 ```bat
-ros2 node list
+ros2 node list --no-daemon --spin-time 3
 ```
 ```
 /talker
 ```
 ```bat
-ros2 topic list
+ros2 topic list --no-daemon --spin-time 3
 ```
 ```
 /chatter
 /parameter_events
 /rosout
 ```
 ```bat
-ros2 topic echo /chatter
+ros2 topic echo /chatter --spin-time 3
 ```
 ```
 [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener