ROS2 Network - stereoboy/Study GitHub Wiki

FastDDS

export FASTRTPS_DEFAULT_PROFILES_FILE=/work/fastdds.xml
  • fastdds.xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/">
        <transport_descriptors>
                <transport_descriptor>
                        <transport_id>CustomTcpTransportWhitelistAddress</transport_id>
                        <type>UDPv4</type>
                        <interfaceWhiteList>
                                <address>192.168.2.2</address>
                        </interfaceWhiteList>
                </transport_descriptor>
        </transport_descriptors>
        <participant profile_name="CustomTcpTransportWhitelistAddressParticipant" is_default_profile="true">
                <rtps>
                        <useBuiltinTransports>false</useBuiltinTransports>
                        <userTransports>
                                <transport_id>CustomTcpTransportWhitelistAddress</transport_id>
                        </userTransports>
                </rtps>
        </participant>
</profiles>

export CYCLONEDDS_URI= for CycloneDDS

export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterface>wlan1</></></></>'


export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan1</></></></>' // deprecated???

Fast DDS Discovery

ros2 doctor --report

ROS_LOCALHOST_ONLY=

tcpdump

sudo apt install tcpdump

sudo tcpdump -X -i any udp port 7400

# In terminal 1:
ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker

# In terminal 2:
ros2 run demo_nodes_cpp listener --ros-args --enclave /talker_listener/listener

lsof -iUDP or ss -uap 

sudo apt install iproute2
ss -uap

sudo lsof -i -P -n

*https://www.cyberciti.biz/faq/unix-linux-check-if-port-is-in-use-command/

sudo apt-get install lsof

$ sudo lsof -i -P -n 
[sudo] password for wom: 
COMMAND      PID            USER   FD   TYPE DEVICE SIZE/OFF NODE NAME
systemd        1            root   30u  IPv4  39354      0t0  TCP *:111 (LISTEN)
systemd        1            root   31u  IPv4  39355      0t0  UDP *:111 
systemd        1            root   32u  IPv6  39356      0t0  TCP *:111 (LISTEN)
systemd        1            root   33u  IPv6  39357      0t0  UDP *:111 
rpcbind      753            _rpc    4u  IPv4  39354      0t0  TCP *:111 (LISTEN)
rpcbind      753            _rpc    5u  IPv4  39355      0t0  UDP *:111 
rpcbind      753            _rpc    6u  IPv6  39356      0t0  TCP *:111 (LISTEN)
rpcbind      753            _rpc    7u  IPv6  39357      0t0  UDP *:111 
systemd-r    754 systemd-resolve   12u  IPv4  47677      0t0  UDP 127.0.0.53:53 
systemd-r    754 systemd-resolve   13u  IPv4  47678      0t0  TCP 127.0.0.53:53 (LISTEN)
avahi-dae    764           avahi   12u  IPv4  47693      0t0  UDP *:5353 
avahi-dae    764           avahi   13u  IPv6  47694      0t0  UDP *:5353 
avahi-dae    764           avahi   14u  IPv4  47695      0t0  UDP *:36886 
avahi-dae    764           avahi   15u  IPv6  47696      0t0  UDP *:41721 
NetworkMa    771            root   23u  IPv4  59147      0t0  UDP 192.168.0.13:68->192.168.0.1:67 
container   1585            root   10u  IPv4  62560      0t0  TCP 127.0.0.1:37799 (LISTEN)
sshd        1969            root    3u  IPv4  59513      0t0  TCP *:22 (LISTEN)
sshd        1969            root    4u  IPv6  59515      0t0  TCP *:22 (LISTEN)
sshd       61565            root    4u  IPv4 267162      0t0  TCP 192.168.0.13:22->192.168.0.2:38700 (ESTABLISHED)
sshd       61612             wom    4u  IPv4 267162      0t0  TCP 192.168.0.13:22->192.168.0.2:38700 (ESTABLISHED)
cupsd     173967            root    9u  IPv4 619513      0t0  TCP *:631 (LISTEN)
cupsd     173967            root   10u  IPv6 619514      0t0  TCP *:631 (LISTEN)
cups-brow 174031            root    8u  IPv4 634088      0t0  UDP *:631 
listener  176427             wom    4u  IPv4 642860      0t0  UDP *:53388 
listener  176427             wom    5u  IPv4 642861      0t0  UDP 172.17.0.1:44303  //<- wrong Setup
listener  176427             wom    6u  IPv4 642862      0t0  UDP *:7400 
listener  176427             wom    7u  IPv4 642863      0t0  UDP *:7401
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