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ROS_LOCALHOST_ONLY doesn't allow other terminal session to see all the topics.

asked 2020-09-09 21:21:52 -0500

antoniopark
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System Summary - ROS2: eloquent - OS: Ubuntu18.04 - CPU: x86_64

Hi, I'm testing ros2 messaging with ROS_LOCALHOST_ONLY=1 option which disallows messages to be broadcasted. But strangely, if that option is enabled, only some of the topic are visible on the other terminal session: I checked with ros2 topic list. Both of the terminals have same env variables: ROS_LOCALHOST_ONLY=1, ROS_DOMAIN_ID=0. If all the topics are not shown then I would understand this feature as it is but as it shows only partial topics I'm quite confused. edited: I found that is ROS_DOMAIN_ID is not 0, then all the topics are not shown in other terminal.

Any hints about this will be appreciated.

Thanks in advance.

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answered 2022-11-16 16:18:34 -0500

Pablo Iñigo Blasco

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You need to make sure that the following variables are correct in both devices: ROS_LOCALHOST_ONLY, ROS_DOMAIN_ID and RMW_IMPLEMENTATION.

For example, I was able to make the communication between two machines very different (an ubuntu machine and an android machine both in galactic) making sure those three are aligned for both processes of both machines:

ROS_DOMAIN_ID=45 ROS_LOCALHOST_ONLY=0 RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 topic echo /test

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Asked: 2020-09-09 21:15:34 -0500

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Last updated: Nov 16 '22

ROS_LOCALHOST_ONLY doesn't allow other terminal session to see all the topics. edit

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ROS_LOCALHOST_ONLY doesn't allow other terminal session to see all the topics.