ROS2 + WSL2 external communication

I'm developing my Humble ROS2 system in WSL2 running Ubuntu 22.04. I'd like to test the system with the hardware running on an RPi on the network, whilst being able to run tools like rviz on my dev computer. I'm not interested in communicating with the Windows install because I can run any UI programs I need directly from WSL.

I've seen variations of this question before which suggest it's not possible because ROS running under WSL can't send/receive multicast packets on the main network?

Has anyone managed to get ROS running under WSL to communicate with ROS running on the network or know of any projects I can help with to provide this functionality?

Asked by Adude on 2023-03-23 05:44:30 UTC

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Answers

I followed this video: https://www.youtube.com/watch?v=NOOUfsExYCE to set WSL2 instance to use the ethernet/wifi card directly and it worked for me. I do have to clear and reset my ip address as he talks about when switching networks but otherwise it worked for me to publish and subscribe to other nodes on different computers on the ROS network.

Asked by thomaspj1017 on 2023-05-02 12:22:24 UTC