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Hi Everyone,
When I only have the subscribers on the same host with the publisher, is it possible to restrict the packet published by publisher only to this host instead of letting packet go out via the network interface?
Thanks.
Since ROS 2 Eloquent you can restrict all communication of an RMW implementation to localhost using the environment variable ROS_LOCALHOST_ONLY(see https://index.ros.org/doc/ros2/Releas...).
Hi Dirk,
Thanks for your reply. ROS_LOCALHOST_ONLY will restrict all traffic to localhost. However, what I need is restricting the traffic "by topic". For those topics publisher and subscriber are on the same host, restrict the traffic to localhost. For those topics publisher and subscriber are on the different hosts, send out the traffic via the network interface. Is it possible to do this? Thanks.
ROS does not have a configuration for that. Maybe with RMW specific configuration you can achieve this.
You're starting to get into very specific requrements that this might be starting to be a bit of an XY problem. http://xyproblem.info/ For example you may want to look at the Security options which allow you fine grained control of topics access: https://design.ros2.org/articles/ros2...https://ubuntu.com/blog/what-is-sros-2
If there are no subscribers on other hosts, there should already be no traffic transmitted.
Topic subscriptions are peer-to-peer (in ROS 2 as well as ROS 1), they are not broadcast.
Have you observed topic traffic being sent to other hosts even if they are not subscribing?
Asked: 2020-08-10 06:45:19 -0500
Seen: 703 times
Last updated: Aug 10 '20
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