How to communicate with raspi via ethertnet

[uhobeike]

Hello.
I have recently started attempting to use this package.

What I want to do now is to communicate between my laptop (ROS 2: Humble) and raspi4 (ROS 2: Humble).

What I am trying now is the following command.

• Notebook PC

docker run --rm --net=host -e ROS_DISTRO=humble -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -e CYCLONEDDS_URI=file:///home/ikebe/cyclonedds. xml -v “/home/ikebe:/home/ikebe” --name zenoh eclipse/zenoh-bridge-ros2dds:latest -c /home/ikebe/DEFAULT_CONFIG.json5
ros2 run demo_nodes_cpp talker

• raspi4

ros2 topic list

It would be nice if /chatter could be seen on the raspi side when this is executed, but it is not there.
Please let me know if I am doing something wrong.

[uhobeike]

Notebook PC: DEFAULT_CONFIG.json5

////
//// This file presents the default configuration used by both the `zenoh-plugin-ros2dds` plugin and the `zenoh-bridge-ros2dds` standalone executable.
//// The "ros2" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
////
{
  plugins: {
    ////
    //// ROS2 related configuration
    //// All settings are optional and are unset by default - uncomment the ones you want to set
    ////
    ros2dds: {
      ////
      //// nodename: A ROS node name to be used by this bridge.
      ////            Default: "zenoh_bridge_ros2dds"
      ////
      // nodename: "zenoh_bridge_ros2dds",

      ////
      //// namespace: A ROS namespace which:
      ////             - is used for the "zenoh_bridge_ros2dds" node itself
      ////             - is added to all discovered interfaces when routed to Zenoh
      ////               (i.e. a "cmd_vel" topic in the robot will be seen as "namespace/cmd_vel" outside the robot)
      ////               Note that this also applies to topics with absolute path such as "/rosout", "/tf" and "/tf_static".
      ////            Default: "/"
      ////
      // namespace: "/",

      ////
      //// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
      ////
      // domain: 0,

      ////
      //// ros_localhost_only: If set to true, the DDS discovery and traffic will occur only on the localhost interface (127.0.0.1).
      ////                     By default set to false, unless the "ROS_LOCALHOST_ONLY=1" environment variable is defined.
      ////
      // ros_localhost_only: true,

      ////
      //// shm_enabled: If set to true, the DDS implementation will use Iceoryx shared memory.
      ////              Requires the bridge to be built with the 'dds_shm' feature for this option to valid.
      ////              By default set to false.
      ////
      // shm_enabled: false,

      ////
      //// allow / deny: Specify the lists of ROS 2 interfaces that are allowed or denied to be routed over Zenoh.
      ////               Each element of the lists is a regular expression that must match the full interface name.
      ////               You cannot set both 'allow' and 'deny' in the same configuration.
      ////               If neither 'allow' nor 'deny' are set, all interfaces are allowed.
      ////               Use 'allow' to allow only the specified interfaces. If an interface type is set to an empty list
      ////               or is not specified at all, it means that NO such interface is allowed.
      ////               Use 'deny' to allow all except the specified interfaces. If an interface type is set to an empty list
      ////               or is not specified at all, it means that ALL such interface are allowed.
      allow: {
         publishers: [".*"],
         subscribers: [".*"],
         service_servers: [".*"],
         service_clients: [".*"],
         action_servers: [".*"],
         action_clients: [".*"],
      },
      // deny: {
      //   publishers: ["/rosout", "/parameter_events"],
      //   subscribers: ["/rosout"],
      //   service_servers: [".*/set_parameters"],
      //   service_clients: [".*/set_parameters"],
      //   action_servers: [],
      //   action_clients: [],
      // },

      ////
      //// pub_max_frequencies: Specify a list of maximum frequency of publications routing over zenoh for a set of Publishers.
      ////                      The strings must have the format "<regex>=<float>":
      ////                      - "regex" is a regular expression matching a Publisher interface name
      ////                      - "float" is the maximum frequency in Hertz;
      ////                        if publication rate is higher, downsampling will occur when routing.
      // pub_max_frequencies: [".*/laser_scan=5", "/tf=10"],

      ////
      //// pub_priorities: Specify a list of priorities of publications routing over zenoh for a set of Publishers.
      ////                 In case of high traffic, the publications with higher priorities will overtake
      ////                 the publications with lower priorities in Zenoh publication queues.
      ////                 The strings must have the format "<regex>=<integer>[:express]":
      ////                 - "regex" is a regular expression matching a Publisher topic name
      ////                 - "integer" is a priority value in the range [1-7]. Highest priority is 1, lowest is 7 and default is 5.
      ////                   (see Zenoh Priority definition here: https://docs.rs/zenoh/latest/zenoh/publication/enum.Priority.html)
      ////                - ":express" is an option to indicate that the Zenoh express policy must be used for those publications.
      ////                   The express policy makes Zenoh to to send the message immediatly, not waiting for possible further messages
      ////                   to create a bigger batch of messages. This usually has a positive impact on latency for the topic
      ////                   but a negative impact on the general throughput, as more overhead is used for those topics.
      // pub_priorities: ["/scan=1:express", "/pose=2", "/rosout=7"],

      ////
      //// reliable_routes_blocking: When true, the publications from a RELIABLE DDS Writer will be
      ////                           routed to zenoh using the CongestionControl::Block option.
      ////                           Meaning the routing will be blocked in case of network congestion,
      ////                           blocking the DDS Reader and the RELIABLE DDS Writer in return.
      ////                           When false (or for BERST_EFFORT DDS Writers), CongestionControl::Drop
      ////                           is used, meaning the route might drop some data in case of congestion.
      ////
      // reliable_routes_blocking: true,

      ////
      //// queries_timeout: Timeouts configuration for various Zenoh queries.
      ////                  Each field is optional. If not set, the 'default' timeout (5.0 seconds by default) applies to all queries.
      ////                  Each value can be either a float in seconds that will apply as a timeout to all queries,
      ////                  either a list of strings with format "<regex>=<float>" where:
      ////                      - "regex" is a regular expression matching an interface name
      ////                      - "float" is the timeout in seconds
      // queries_timeout: {
      //   //// default timeout that will apply to all query, except the ones specified below
      //   //// in 'transient_local_subscribers', 'services' and 'actions'
      //   default: 5.0,
      //   //// timeouts for TRANSIENT_LOCAL subscriber when querying publishers for historical publications
      //   transient_local_subscribers: 1.0,
      //   //// timeouts for Service clients calling a Service server
      //   services: ["add_two_ints=0.5", ".*=1.0"],
      //   //// timeouts for Action clients calling an Action server (send_goal, cancel_goal and get_result services)
      //   actions: {
      //     send_goal: 1.0,
      //     cancel_goal: 1.0,
      //     get_result: [".*long_mission=3600", ".*short_action=10.0"],
      //   }
      // },

      ////
      //// This plugin uses Tokio (https://tokio.rs/) for asynchronous programming. 
      //// When running as a plugin within a Zenoh router, the plugin creates its own Runtime managing 2 pools of threads:
      ////    - worker threads for non-blocking tasks. Those threads are spawn at Runtime creation.
      ////    - blocking threads for blocking tasks (e.g. I/O). Those threads are spawn when needed.
      //// For more details see https://github.com/tokio-rs/tokio/discussions/3858#discussioncomment-869878
      //// When running as a standalone bridge the Zenoh Session's Runtime is used and can be configured via the
      //// `ZENOH_RUNTIME` environment variable. See https://docs.rs/zenoh-runtime/latest/zenoh_runtime/enum.ZRuntime.html
      ////
      
      //// work_thread_num: The number of worker thread in the asynchronous runtime will use. (default: 2)
      ////                  Only for a plugin, no effect on a bridge.
      // work_thread_num: 2,
      
      //// max_block_thread_num: The number of blocking thread in the asynchronous runtime will use. (default: 50)
      ////                       Only for a plugin, no effect on a bridge.
      // max_block_thread_num: 50,
    },

    ////
    //// REST API configuration (active only if this part is defined)
    ////
    // rest: {
    //   ////
    //   //// The HTTP port number (for all network interfaces).
    //   //// You can bind on a specific interface setting a "<local_ip>:<port>" string.
    //   ////
    //   http_port: 8000,
    // },
  },

  ////
  //// Zenoh related configuration.
  //// Only the most relevant sections are displayed here.
  //// For a complete view of configuration possibilities, see https://github.com/eclipse-zenoh/zenoh/blob/main/DEFAULT_CONFIG.json5
  ////

  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
  /// that zenoh runtime will use.
  /// If not set, a random unsigned 128bit integer will be used.
  /// WARNING: this id must be unique in your zenoh network.
  // id: "1234567890abcdef",

  ////
  //// mode: The bridge's mode (router, peer or client)
  ////
  //mode: "router",

  ////
  //// Which endpoints to connect to. E.g. tcp/localhost:7447.
  //// By configuring the endpoints, it is possible to tell zenoh which remote router or other zenoh-bridge-ros2dds to connect to at startup.
  ////
  connect: {
    endpoints: [
      // "<proto>/<ip>:<port>"
    ]
  },

  ////
  //// Which endpoints to listen on.
  //// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
  //// peers, or client can use to establish a zenoh session.
  //// In 'router' mode (default) the zenoh-bridge-ros2dds is listening by default on `tcp/0.0.0.0:7447` (`0.0.0.0` meaning all the available network interfaces)
  ////
  // listen: {
  //  endpoints: [
  //    // "<proto>/<ip>:<port>"
  //  ]
  //},

  ////
  //// Configure the scouting mechanisms and their behaviours
  ////
  //scouting: {
  //  /// The UDP multicast scouting configuration.
  //  multicast: {
  //    /// Whether multicast scouting is enabled or not
  //    enabled: true,
  //    /// The socket which should be used for multicast scouting
  //    address: "224.0.0.224:7446",
  //    /// The network interface which should be used for multicast scouting
  //    interface: "auto", // If not set or set to "auto" the interface if picked automatically
  //    /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
  //    /// Accepts a single value or different values for router, peer and client.
  //    /// Each value is an array containing values "peer", "router" and "client".
  //    autoconnect: { router: [], peer: ["router","peer"] },
  //    /// Whether or not to listen for scout messages on UDP multicast and reply to them.
  //    listen: true,
  //  },
  //  /// The gossip scouting configuration.
  //  gossip: {
  //    /// Whether gossip scouting is enabled or not
  //    enabled: true,
  //    /// When true, gossip scouting information is propagated multiple hops to all nodes in the local network.
  //    /// When false, gossip scouting information is only propagated to the next hop.
  //    /// Activating multihop gossip implies more scouting traffic and a lower scalability.
  //    /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
  //    /// direct connectivity with each other.
  //    multihop: false,
  //    /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
  //    /// Accepts a single value or different values for router, peer and client.
  //    /// Each value is an array containing values "peer", "router" and "client".
  //    autoconnect: { router: [], peer: ["router","peer"] },
  //  },
  //},

}

[uhobeike]

Notebook PC: cyclonedds.xml

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
  <Domain Id="any">
    <General>
      <Interfaces>
              <NetworkInterface autodetermine="false" name="enp0s31f6" priority="default" multicast="default" />
      </Interfaces>
      <AllowMulticast>default</AllowMulticast>
      <MaxMessageSize>65500B</MaxMessageSize>
    </General>
    <Internal>
      <SocketReceiveBufferSize min="10MB"/>
      <Watermarks>
        <WhcHigh>500kB</WhcHigh>
      </Watermarks>
    </Internal>
  </Domain>
</CycloneDDS>

[gabrik]

Hi @uhobeike you need to start a bridge also on the RPi side, otherwise the ros2 topic list will not be able to extract the information.
The bridge "converts" DDS traffic to Zenoh traffic, while the ros2 topic list expects DDS traffic, thus 2 bridges are needed.

Something like:

                                                                   
     Laptop                                          RPi           
  ┌───────────────┐                             ┌────────────────┐ 
  │               │                             │                │ 
  │               │                             │                │ 
  │┌─────────────┐│                             │┌───────────┐   │ 
  ││  ROS2 bridge┼┼─────────────────────────────►│ROS2 Bridge│   │ 
  │└─────▲───────┘│                             │└────────┬──┘   │ 
  │      │        │                             │         │      │ 
  │┌─────┼───────┐│                             │ ┌───────▼─────┐│ 
  ││   talker    ││                             │ │ topic list  ││ 
  │└─────────────┘│                             │ └─────────────┘│ 
  └───────────────┘                             └────────────────┘ 

[uhobeike]

Thanks for the quick reply.
It's very helpful.

I tried it on my end right away!

I found out something there,
First of all, I found that I need to write the interface name of Ethetnet in each cyclonedds.xml file.

• For PC
  <NetworkInterface autodetermine=“false” name=“enp0s31f6” priority=“default” multicast=“default” />
• For raspi
  <NetworkInterface autodetermine=“false” name=“eth0” priority=“default” multicast=“default” />

Now when I launch each command
The logs appear as if communication is working.
However, when I type ros2 topic list on raspi, it does not come up.

• For PC

docker run --rm     --net=host     -e ROS_DISTRO=humble     -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp     -e CYCLONEDDS_URI=file:///home/ikebe/cyclonedds.xml  -v "/home/ikebe:/home/ikebe"   --name zenoh     eclipse/zenoh-bridge-ros2dds:latest -c /home/ikebe/DEFAULT_CONFIG.json5

ros2 run demo_nodes_cpp talker

• For raspi

docker run --rm     --net=host     -e ROS_DISTRO=humble     -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp     -e CYCLONEDDS_URI=file:///home/ubuntu/cyclonedds.xml  -v "/home/ubuntu:/home/ubuntu"  --name zenoh     eclipse/zenoh-bridge-ros2dds:latest -c /home/ubuntu/DEFAULT_CONFIG.json5

ros2 topic list

Is there something I need to set up?
ROS_DOMAIN_ID is fine with 0, right?

[uhobeike]

Here is a log of the run with raspi

ubuntu@ubuntu:~$ docker run --rm     --net=host     -e ROS_DISTRO=humble     -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp     -e CYCLONEDDS_URI=file:///home/ubuntu/cyclonedds.xml  -v "/home/ubuntu:/home/ubuntu"  --name zenoh     eclipse/zenoh-bridge-ros2dds:latest -c /home/ubuntu/DEFAULT_CONFIG.json5
#!/bin/ash
cat /entrypoint.sh
echo " * Starting: /$BINARY $*"
exec /$BINARY $*
 * Starting: /zenoh-bridge-ros2dds -c /home/ubuntu/DEFAULT_CONFIG.json5
2024-10-20T10:01:42.178551Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.0.0-rc.2
2024-10-20T10:01:42.182313Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: Zenoh Config(Config { id: 39189cd093cd0796416de38c5e0894ca, metadata: Null, mode: Some(Router), connect: ConnectConfig { timeout_ms: None, endpoints: Unique([]), exit_on_failure: None, retry: None }, listen: ListenConfig { timeout_ms: None, endpoints: Dependent(ModeValues { router: Some([tcp/[::]:7447]), peer: Some([tcp/[::]:0]), client: None }), exit_on_failure: None, retry: None }, open: OpenConf { return_conditions: ReturnConditionsConf { connect_scouted: None, declares: None } }, scouting: ScoutingConf { timeout: None, delay: None, multicast: ScoutingMulticastConf { enabled: None, address: None, interface: None, ttl: None, autoconnect: None, listen: None }, gossip: GossipConf { enabled: None, multihop: None, autoconnect: None } }, timestamping: TimestampingConf { enabled: Some(Unique(true)), drop_future_timestamp: None }, queries_default_timeout: None, routing: RoutingConf { router: RouterRoutingConf { peers_failover_brokering: None }, peer: PeerRoutingConf { mode: None } }, aggregation: AggregationConf { subscribers: [], publishers: [] }, transport: TransportConf { unicast: TransportUnicastConf { accept_timeout: 10000, accept_pending: 100, max_sessions: 1000, max_links: 1, lowlatency: false, qos: QoSUnicastConf { enabled: true }, compression: CompressionUnicastConf { enabled: false } }, multicast: TransportMulticastConf { join_interval: Some(2500), max_sessions: Some(1000), qos: QoSMulticastConf { enabled: false }, compression: CompressionMulticastConf { enabled: false } }, link: TransportLinkConf { protocols: None, tx: LinkTxConf { sequence_number_resolution: U32, lease: 10000, keep_alive: 4, batch_size: 65535, queue: QueueConf { size: QueueSizeConf { control: 1, real_time: 1, interactive_high: 1, interactive_low: 1, data_high: 2, data: 4, data_low: 2, background: 1 }, congestion_control: CongestionControlConf { drop: CongestionControlDropConf { wait_before_drop: 1000 }, block: CongestionControlBlockConf { wait_before_close: 5000000 } }, batching: BatchingConf { enabled: true, time_limit: 1 } }, threads: 1 }, rx: LinkRxConf { buffer_size: 65535, max_message_size: 1073741824 }, tls: TLSConf { root_ca_certificate: None, listen_private_key: None, listen_certificate: None, enable_mtls: None, connect_private_key: None, connect_certificate: None, verify_name_on_connect: None, root_ca_certificate_base64: None, listen_private_key_base64: None, listen_certificate_base64: None, connect_private_key_base64: None, connect_certificate_base64: None }, unixpipe: UnixPipeConf { file_access_mask: None } }, shared_memory: ShmConf { enabled: true }, auth: AuthConf { usrpwd: UsrPwdConf { user: None, password: None, dictionary_file: None }, pubkey: PubKeyConf { public_key_pem: None, private_key_pem: None, public_key_file: None, private_key_file: None, key_size: None, known_keys_file: None } } }, adminspace: AdminSpaceConf { enabled: true, permissions: PermissionsConf { read: true, write: false } }, downsampling: [], access_control: AclConfig { enabled: false, default_permission: Deny, rules: None, subjects: None, policies: None }, plugins_loading: PluginsLoading { enabled: true, search_dirs: LibSearchDirs([Spec(LibSearchSpec { kind: CurrentExeParent, value: None }), Path("."), Path("~/.zenoh/lib"), Path("/opt/homebrew/lib"), Path("/usr/local/lib"), Path("/usr/lib")]) }, plugins: Object {"ros2dds": Object {"allow": Object {"action_clients": Array [String(".*")], "action_servers": Array [String(".*")], "publishers": Array [String(".*")], "service_clients": Array [String(".*")], "service_servers": Array [String(".*")], "subscribers": Array [String(".*")]}, "ros_localhost_only": Bool(false)}} })
2024-10-20T10:01:42.182629Z  INFO main ThreadId(01) zenoh::net::runtime: Using ZID: 39189cd093cd0796416de38c5e0894ca
2024-10-20T10:01:42.183881Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "ros2dds"
2024-10-20T10:01:42.190010Z  INFO main ThreadId(01) zenoh::api::loader: Successfully started plugin ros2dds from "__static_lib__"
2024-10-20T10:01:42.190081Z  INFO main ThreadId(01) zenoh::api::loader: Finished loading plugins
2024-10-20T10:01:42.191452Z  INFO tokio-runtime-worker ThreadId(05) zenoh_plugin_ros2dds: ROS2 plugin Config { namespace: "/", nodename: "zenoh_bridge_ros2dds", domain: 0, ros_localhost_only: false, allowance: Some(Allow(ROS2InterfacesRegex { publishers: Some(Regex("^.*$")), subscribers: Some(Regex("^.*$")), service_servers: Some(Regex("^.*$")), service_clients: Some(Regex("^.*$")), action_servers: Some(Regex("^.*$")), action_clients: Some(Regex("^.*$")) })), pub_max_frequencies: [], transient_local_cache_multiplier: 10, queries_timeout: None, reliable_routes_blocking: true, pub_priorities: [], work_thread_num: 2, max_block_thread_num: 50, __required__: None, __path__: None }
2024-10-20T10:01:42.193584Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::dea6:32ff:feab:d5a3]:7447
2024-10-20T10:01:42.193641Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/10.42.0.147:7447
2024-10-20T10:01:42.195078Z  INFO                 main ThreadId(01) zenoh::net::runtime::orchestrator: zenohd listening scout messages on 224.0.0.224:7446
2024-10-20T10:01:42.300926Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /_ros2cli_daemon_0_8896604c4d1f4b9e892e5f5d11148b55
2024-10-20T10:01:42.301900Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /zenoh_bridge_ros2dds
2024-10-20T10:01:42.302113Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_8896604c4d1f4b9e892e5f5d11148b55 declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-20T10:01:42.303533Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/rosout -> Zenoh:rosout) created
2024-10-20T10:01:42.303870Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /_ros2cli_daemon_0_8896604c4d1f4b9e892e5f5d11148b55 declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-20T10:01:42.304024Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/parameter_events -> Zenoh:parameter_events) created
2024-10-20T10:01:47.357822Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::discovered_entities: Discovered ROS Node /talker
2024-10-20T10:01:47.358359Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Subscriber /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-20T10:01:47.359248Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Subscriber (Zenoh:parameter_events -> ROS:/parameter_events) created
2024-10-20T10:01:47.359985Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2024-10-20T10:01:47.361590Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created
2024-10-20T10:01:47.362157Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2024-10-20T10:01:47.363009Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2024-10-20T10:01:47.363451Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2024-10-20T10:01:47.364490Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2024-10-20T10:01:47.365001Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2024-10-20T10:01:47.366037Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2024-10-20T10:01:47.366670Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-20T10:01:47.366770Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Publisher /chatter: std_msgs/msg/String - Allowed
2024-10-20T10:01:47.367016Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/chatter -> Zenoh:chatter) created
2024-10-20T10:01:47.367358Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2024-10-20T10:01:47.368241Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2024-10-20T10:01:47.368994Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Publisher /rosout: rcl_interfaces/msg/Log - Allowed
2024-10-20T10:01:47.369326Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /talker declares Service Server /talker/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2024-10-20T10:01:47.370061Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Server (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2024-10-20T10:01:47.459863Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/set_parameters: rcl_interfaces/srv/SetParameters - Allowed
2024-10-20T10:01:47.459954Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters <-> Zenoh:talker/set_parameters) created
2024-10-20T10:01:47.460366Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters - Allowed
2024-10-20T10:01:47.460443Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/describe_parameters <-> Zenoh:talker/describe_parameters) created
2024-10-20T10:01:47.460973Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/list_parameters: rcl_interfaces/srv/ListParameters - Allowed
2024-10-20T10:01:47.461044Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/list_parameters <-> Zenoh:talker/list_parameters) created
2024-10-20T10:01:47.461313Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes - Allowed
2024-10-20T10:01:47.461419Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameter_types <-> Zenoh:talker/get_parameter_types) created
2024-10-20T10:01:47.461732Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically - Allowed
2024-10-20T10:01:47.461779Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/set_parameters_atomically <-> Zenoh:talker/set_parameters_atomically) created
2024-10-20T10:01:47.462243Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Publisher /parameter_events: rcl_interfaces/msg/ParameterEvent - Allowed
2024-10-20T10:01:47.462318Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds: Node /zenoh_bridge_ros2dds declares Service Client /talker/get_parameters: rcl_interfaces/srv/GetParameters - Allowed
2024-10-20T10:01:47.462351Z  INFO tokio-runtime-worker ThreadId(03) zenoh_plugin_ros2dds::routes_mgr: Route Service Client (ROS:/talker/get_parameters <-> Zenoh:talker/get_parameters) created

[gabrik]

Domain 0 is fine, and from the log we can see that topics are discovered and routes are created.

I think you should set ROS_LOCALHOST_ONLY and configure Cyclone to use the lo interface, in the bridge it is enough to pass --ros-localhost-only

So on the PC:

docker run --rm     --net=host     -e ROS_DISTRO=humble     -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  -v "/home/ikebe:/home/ikebe"   --name zenoh     eclipse/zenoh-bridge-ros2dds:latest -c /home/ikebe/DEFAULT_CONFIG.json5 --ros-localhost-only

ros2 run demo_nodes_cpp talker

on the PI:

docker run --rm     --net=host     -e ROS_DISTRO=humble     -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp    -v "/home/ubuntu:/home/ubuntu"  --name zenoh     eclipse/zenoh-bridge-ros2dds:latest -c /home/ubuntu/DEFAULT_CONFIG.json5 --ros-localhost-only

ros2 topic list

[uhobeike]

Thanks for the reply!

I tried the --ros-localhost-only option.
It worked as expected.

However, due to my lack of study
why I should try to use ROS_LOCALHOST_ONLY.
I don't know.
Because if I use ROS_LOCALHOST_ONLY to communicate, the communication is rather
should be impossible to communicate if ROS_LOCALHOST_ONLY is used for communication.

I would be very grateful if you could help me with this.

Thank you again.

[gabrik]

Hi @uhobeike,

You need to set ROS_LOCALHOST_ONLY (that is equivalent to --ros-localhost-only) because when using the bridge you want DDS traffic to stay local, it is the bridge that then converts and sends it out of the machine via Zenoh to other bridges.

The receiving bridge then will convert back to DDS and send only locally.

If you are not using ROS_LOCALHOST_ONLY then the DDS traffic can go on other interfaces, meaning directly to other machines, leading to possible congestions, discovery storms and all the problems the bridge is designed to solve.

[uhobeike]

I see. I understand.
Thank you very much.

It really helped me.
I appreciate it very much.