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Hello @ljaniec
You are right, the equivalent would be including the IP address(es) of the node(s) you want to communicate with. The XML example displayed in the Interface Whitelist Fast DDS documentation should suit you. (Make sure to include
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Hi @ljaniec |
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Hi @ljaniec In my opinion, the most dynamic and scalable solution for your deployment would be using a discovery server instead of whitelist interfaces. Here it is a complete tutorial and demo for ROS2. If your are interested on a deep study, please do not hesitate to contact the eProsima commercial support. |
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Hello,
I am working on upgrading TurtleBot2 from ROS 2 Galactic with Cyclone DDS to ROS 2 Humble with Fast-DDS as middleware. My problem is configuring Fast-DDS to communicate over the network via wlp58s0, rather than trying to communicate over an RJ-45 cable (this is what the lidar on the robot is connected to). In ROS 2 Galactic there was another middleware, Cyclone DDS, and there it was easier, with an example straight from the documentation (below).
In ROS 2 Humble the default is Fast-DDS, which did not have such clear documentation for us. Unfortunately, I don't really know what would be the equivalent of an analogous change. When I read the Fast-DDS documentation, I don't really know how to do it in this case; I found some links regarding ROS 2 in the documentation:
https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/ros2_configure.html
https://fast-dds.docs.eprosima.com/en/latest/fastdds/xml_configuration/xml_configuration.html
Should I do this using whitelists?
Do I need to create a profile (separate for TCP and UDP, I think) with a whitelist of IP addresses assigned to those interfaces over which Fast DDS can communicate? Presumably 127.0.0.1 and the IP address of the Wi-Fi interface? What would the XML of such a configuration look like?
Best regards,
Łukasz Janiec
PS I posted this as a question on ROS Answers, without any hint, so I am trying to find something here.
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