cyclone DDS is not allowing multimachine discovery of nodes in ROS2 Humble

edit

Solution I got:

Create a file named cyclonedds.xml in your present working directory. Add the following lines in file.

This is for Host Computer:

<CycloneDDS>

 <Domain>

 <General>

  <NetworkInterfaceAddress>wlo1</NetworkInterfaceAddress>

    <DontRoute>true</DontRoute>

</General>

</Domain>

</CycloneDDS>

This is for Raspberry Pi:

<CycloneDDS>

 <Domain>

 <General>

  <NetworkInterfaceAddress>wlan0</NetworkInterfaceAddress>

    <DontRoute>true</DontRoute>

</General>

 </Domain>

</CycloneDDS>

Use iwconfig to find your NetworkInterfaceAddress for both raspberry pi and host computer.

Open .bashrc file by

gedit .bashrc

Add the following two lines somewhere else( Don’t put last)

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=cyclonedds.xml

Now enter the following in terminal

ros daemon stop

source .bashrc

ros daemon start

Now everything set, you are ready to go. Do this in both raspberrypi and host computer.