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I am trying to connect from a Client PC (Raspberry Pi) to an AWS EC2 Instance remotely over the internet using by UDP unicast.

I had set up both computers as below.I executed a "ros2 run demo_nodes_py talker" on this Client PC, and executed a "ros2 run demo_nodes_py listener" on this Instance. But this Instance cannot receive topic messageses from this Client PC. Please let me know how to connect AWS EC2 Instance.

Details information is below:

AWS EC2 Instance configuration

• TYPE: AWS EC2 VPC Instance(t2.micro)
• OS: Ubuntu 18.04 LTS
• ROS Version: ROS2 Dashing Diademata
• Private IP: aaa.aaa.aaa.aaa

• Public IP: bbb.bbb.bbb.bbb

• FastRTPS - DEFAULT_FASTRTPS_PROFILES.xml

<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
    <participant profile_name="my_profile_s" is_default_profile="true">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator/>
                </metatrafficUnicastLocatorList>
                <initialPeersList>
                    <locator>
                        <udpv4>
                            <address>ddd.ddd.ddd.ddd</address>
                        </udpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>

• AWS EC2 Security Group Inbound Configuration

type      : port number: src address
-----------------------------------
Custom UDP: port 7412  : 0.0.0.0/0
Custom UDP: port 7413  : 0.0.0.0/0
Custom UDP: port 7414  : 0.0.0.0/0
Custom UDP: port 7415  : 0.0.0.0/0
Custom UDP: port 7416  : 0.0.0.0/0

Client PC configuration

• TYPE: Raspberry Pi 3+
• OS: Ubuntu 18.04 LTS
• ROS Version: ROS 2 Dashing Diademata
• Private IP: ccc.ccc.ccc.ccc

• Public IP: ddd.ddd.ddd.ddd

• FastRTPS - DEFAULT_FASTRTPS_PROFILES.xml

<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
    <participant profile_name="my_profile_c" is_default_profile="true">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator/>
                </metatrafficUnicastLocatorList>
                <initialPeersList>
                    <locator>
                        <udpv4>
                            <address>bbb.bbb.bbb.bbb</address>
                        </udpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>

Thank you in advance for reading my question.

Best regards,

Iori

Thank you for your advice. To use UDP unicast communication with ROS2, both client PC and AWS EC2 had to be able to se

ROS2 DDS communication: How to connect AWS EC2 Instance remotely I am trying to connect from a Client PC (Raspberry Pi)