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ros2 DDS at dual homed hosts

asked 2019-01-24 11:16:00 -0500

ChriMo gravatar image

Hi networkers and ros2 developers,

how handles ros2 dds dual homed hosts ?

Normally, each interfaces belongs to an own subnet with a single IP address.

Which interface and IP is used for communication ? By default, DDS transport is not routed and is available at single broadcast domain only.

Thanks for any feedback

Cheers Chrimo

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answered 2019-01-24 19:30:21 -0500

Geoff gravatar image

Which interface and IP is used is probably going to be very system-dependent and DDS-implementation-dependent.

If you are using RTI Connext DDS, you can control which interfaces and IPs are used to receive data through the QoS profile. See this RTI HOWTO for more information.

If you are using FastRTPS, then unfortunately I was not able to find out what property names they use to control the interfaces/IPs/ports used. Their transport documentation doesn't mention anything. I'm sure they must have a way to do so, though, so hopefully someone from eProsima or OSRF will stop by with the answer.

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For FastRTPS, this can be managed using the field interface whitelist in the transport descriptors:

ruffsl gravatar image ruffsl  ( 2019-01-24 21:08:44 -0500 )edit

I completely missed that. Thanks!

Geoff gravatar image Geoff  ( 2019-01-24 23:37:33 -0500 )edit

answered 2019-01-24 22:48:45 -0500

ChriMo gravatar image

You must plan carefully your network architecture.

I have to to dig more in details, when I setup ros2 networks.

Typical scenario:

Internal robot network net/24 for nodes

Additional uplink (e.g. WiFi) with default route for remote access from development,support and management.

Use case:

access robot network with rviz2 or ros2cli for debugging and development.

Thanks for all your previous sugguestions and hints.



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Please edit your original question if you want to add more information, rather than posting it in an answer.

Geoff gravatar image Geoff  ( 2019-01-24 23:38:18 -0500 )edit

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Asked: 2019-01-24 11:16:00 -0500

Seen: 258 times

Last updated: Jan 24 '19