ROS2 Cyclone DDS + zenoh-ros2-dds plugin

This is my notes on testing ROS2 Cyclone DDS + zenoh-ros2-dds plugin. In this setup I am running two ubuntu 20.04 VM´s on Hyper-V on two diffrent computers.

So lets get started.
First we need to create a new hyper-v virtual switch from the VM that will act as a "host" This is becuase we want the ability to forward ports on it.
How to add a new hyper-v virtual switch:
https://docs.microsoft.com/en-us/windows-server/virtualization/hyper-v/get-started/create-a-virtual-switch-for-hyper-v-virtual-machines

Let's continue preparations, In this setup we will target the PORT: 7447/UDP

We want to open the port. In my case I am using Google wifi. And this is how I do it.

• Open the Google Home app .
• Tap Wi-Fi Settings. ...
• Tap Port management. ...
• Select the tab for the type of IP address you're forwarding.
• Select a device. (My host)
• Add your internal and external ports. (7447) (7447)
• Choose User Datagram Protocol (UDP).
• Tap Save .

Port 7447 is now public open.

On the host in (ubuntu)

sudo apt-get install ufw
sudo ufw enable
sudo ufw allow 7447/udp
check status sudo ufw status verbose

Let's continue installing ROS2

First install ROS2 foxy from steps below
https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Binary.html

Create a Workspace
https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html

#Working with Eclipse Cyclone DDS (dont forget export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp)
https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html

#Install the zenith-ros2-dds plugin
https://github.com/eclipse-zenoh/zenoh-plugin-dds

cd ~/ros_ws/src/
git clone https://github.com/eclipse-zenoh/zenoh-plugin-dds.git
cd ~/ros_ws
. ~/ros2_foxy/ros2-linux/setup.bash
. install/local_setup.bash
rosdep install -q --from-paths src --ignore-src -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
. install/local_setup.bash

Create an cyclonedds.xml with settings

https://github.com/raess1/NOTES-on-ROS2-Cyclone-DDS-zenith-ros2-dds-plugin/blob/main/cyclonedds.xml

. ~/ros2_foxy/ros2-linux/setup.bash
. install/local_setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file://YOURPATH/cyclonedds.xml

Explicitly activate multicast on loopback on Unix systems doing:

sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo
sudo ifconfig lo multicast

On k3lso quadruped run

ros2 run zenoh_bridge_dds zenoh_bridge_dds --no-multicast-scouting -l udp/0.0.0.0:7447 -e udp/192.168.86.37:7447

In the base station

ros2 run zenoh_bridge_dds zenoh_bridge_dds --no-multicast-scouting -l udp/0.0.0.0:7447

Pace the traffic (documents is in work)

Control the list of topics that are allowed to be routed over zenoh
--allow

Specify a maximum frequency of data routing over zenoh per-topic
--max-frequency <String>