ROS2 nodes not discovered over network

I am trying to connect the nodes between my Raspberry Pi 3 (Raspbian Buster) and my Workstation over the same network.

Raspberry Pi 3B:

OS: Raspbian Buster Lite (ARM 32-bit)

ROS Version: Dashing, built from source

DDS Implementation: FastRTPS

Workstation:

OS: Ubuntu 18.04 LTS x86-64

ROS Version: Dashing, from package

DDS Implementation: FastRTPS

Both have ROS_DOMAIN_ID environment variable set to 42.

When running ros2 multicast send and ros2 multicast receive both devices are able to discover each other, with the receiver having the following message: Received from 192.168.10.172:37692: 'Hello World!'

However, when running ros2 run demo_nodes_cpp listener and ros2 run demo_nodes_cpp talker both are not able to discover each other.

Asked by diameda_boot on 2019-09-05 05:29:56 UTC

Comments

Maybe related report: https://github.com/ros2/rmw_fastrtps/issues/315

Asked by Dirk Thomas on 2019-09-10 06:32:44 UTC

Answers

Hi,

I don't know if you still need the info but try to disable the firewall.
Often ufw is blocking the needed connection... So both nodes can create traffic on the network which the other can not discover.

If sudo ufw status is not

Status: inactive

So your solution might be: sudo ufw disable

Cheers M

Asked by mweiss on 2022-06-15 13:03:41 UTC