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Clarification on ROS's port usage

asked 2011-04-13 09:11:08 -0500

baxelrod gravatar image

According to this page:, for nodes on two computers to communicate, all ports must be open.

  1. Doesn't this raise security concerns?
  2. Is it really all ports? Isn't it only ports above 1024 or perhaps a smaller subset?
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answered 2011-04-14 12:54:46 -0500

kwc gravatar image

ROS clients typically bind to port 0. This will generally return socket port numbers > 1024. On a default Ubuntu installation, for example, you need superuser to bind <= 1024.

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answered 2011-05-09 03:57:17 -0500

baxelrod gravatar image

Actually, an ephemeral port will be used. The exact range of which can vary by OS and kernel. See for more info:

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Asked: 2011-04-13 09:11:08 -0500

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Last updated: May 09 '11