文件列表:

Dockerfile (1871, 2023-12-01)
LICENSE (11357, 2023-12-01)
colcon.meta (933, 2023-12-01)
config.discovery-server.template.yaml (459, 2023-12-01)
config.lan.template.yaml (218, 2023-12-01)
config.wan.template.yaml (217, 2023-12-01)
config_daemon.sh (3040, 2023-12-01)
create_filter.sh (1550, 2023-12-01)
ddsrouter.repos (707, 2023-12-01)
demo/ (0, 2023-12-01)
demo/auto/ (0, 2023-12-01)
demo/auto/cloud_deployments/ (0, 2023-12-01)
demo/auto/cloud_deployments/.env.template (160, 2023-12-01)
demo/auto/cloud_deployments/clear_network.sh (187, 2023-12-01)
demo/auto/cloud_deployments/compose.client.yaml (997, 2023-12-01)
demo/auto/cloud_deployments/compose.server.yaml (879, 2023-12-01)
demo/auto/connecting_to_ds/ (0, 2023-12-01)
demo/auto/connecting_to_ds/client_iron.sh (269, 2023-12-01)
demo/auto/connecting_to_ds/ros2router.sh (326, 2023-12-01)
demo/auto/connecting_to_ds/super_client.sh (466, 2023-12-01)
demo/auto/discovery_server_setups/ (0, 2023-12-01)
demo/auto/discovery_server_setups/docker/ (0, 2023-12-01)
demo/auto/discovery_server_setups/docker/shm/ (0, 2023-12-01)
demo/auto/discovery_server_setups/docker/shm/compose.client.yaml (435, 2023-12-01)
demo/auto/discovery_server_setups/docker/shm/compose.server.yaml (434, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp-docker0/ (0, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp-docker0/compose.client.yaml (418, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp-docker0/compose.server.yaml (415, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp-docker0/get_docker0_ip.sh (84, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp/ (0, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp/compose.client.yaml (396, 2023-12-01)
demo/auto/discovery_server_setups/docker/udp/compose.server.yaml (456, 2023-12-01)
demo/auto/discovery_server_setups/host/ (0, 2023-12-01)
demo/auto/discovery_server_setups/host/shm-advanced/ (0, 2023-12-01)
... ...

# husarnet-ros2router [](https://github.com/husarnet/husarnet-ros2router/actions/workflows/build_push.yaml) The `husarnet/ros2router` Docker image is designed to effortlessly bridge local ROS 2 nodes, even those with standard DDS settings, to nodes on different machines across various networks. It runs seamlessly with the Husarnet VPN, ensuring that neither distance nor network differences become obstacles in your ROS 2 projects. Compatible with both natively-executed ROS 2 nodes and those operating within Docker. Based on [DDS Router](https://github.com/eProsima/ros2router) project by eProsima. ## How it works? 1. **Run ROS 2 Nodes on Two Machines:** Whether they're in the same LAN or different ones, execute the following on your first machine: ```bash ROS_LOCALHOST_ONLY=1 ros2 run demo_nodes_cpp listener ``` And on your second machine: ```bash ROS_LOCALHOST_ONLY=1 ros2 run demo_nodes_cpp talker ``` 2. **Husarnet Account Setup** - Register for a free account on [app.husarnet.com](https://app.husarnet.com/). - Establish a new Husarnet network in the Online Dashboard. - Click the **[Add element]** button and copy the code under the **Join Code** tab. 3. **Connect Devices to Husarnet:** If you're on Ubuntu, follow these steps: - Install Husarnet: ```bash curl https://install.husarnet.com/install.sh | sudo bash ``` - Connect to the Husarnet network: ```bash sudo husarnet join ``` 4. **Start the DDS Router Docker Image:** Launch the following command on each host: ```bash docker run \ --detach \ --restart=unless-stopped \ --network host \ husarnet/ros2router:1.4.0 ``` 5. **Verify Connection:** Open the terminal for the `listener`. You should start seeing incoming messages. This guide provides a straightforward setup. Dive deeper and explore additional options and examples in the sections below. ## General Example The all-in-one example, that should be fine in most cases (both with ROS 2 nodes running on host and in Docker containers) is in the `demo/auto/general` directory. ```yaml services: ros2router: image: husarnet/ros2router:1.4.0 network_mode: host ipc: shareable volumes: - ./filter.yaml:/filter.yaml environment: - DISCOVERY_SERVER_ID=2 - DISCOVERY_SERVER_LISTENING_PORT=8888 - ROS_LOCALHOST_ONLY=1 - ROS_DISTRO - | LOCAL_PARTICIPANT= - name: LocalParticipant kind: local domain: 0 transport: udp - name: LocalDockerParticipant kind: local domain: 123 transport: shm talker: image: husarion/ros2-demo-nodes:humble ipc: service:ros2router network_mode: service:ros2router volumes: - ./shm-only.xml:/shm-only.xml environment: - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml - ROS_DOMAIN_ID=123 command: ros2 run demo_nodes_cpp talker # On the same host, to use LocalParticipant, just execute: # export ROS_LOCAHOST_ONLY=1 # ros2 run demo_nodes_cpp talker # On the other host, to listen to /chatter topic: # # ROS 2 Iron (assuming "laptop" is the husarnet hostname of the host running ros2router): # export ROS_DISCOVERY_SERVER=;;laptop:8888 # ros2 run demo_nodes_cpp listener # # ROS 2 Humble: # Modify superclient.xml to point to the host with ros2router (line 31) # export FASTRTPS_DEFAULT_PROFILES_FILE=${PWD}/superclient.xml # ros2 run demo_nodes_cpp listener ``` ## Environment Variables ### Husarnet VPN related | env | default value | description | | - | - | - | | `AUTO_CONFIG` | `TRUE` | If set to `TRUE`, the `DDS_ROUTER_CONFIGURATION.yaml` will be automatically generated using all other environment variables. Set to `FALSE` to use a custom DDS Router configuration, **bypassing all other environment variables** | | `USE_HUSARNET` | `TRUE` | When set to `TRUE`, the DDS Router configuration file populates with Husarnet peers addresses. If `FALSE`, the DDS Router operates solely within the local network, defaulting to the DDS simple discovery protocol. In this scenario, the first participant's domain id is `ROS_DOMAIN_ID`, while the second participant's domain id is consistently `0`. However, if `ROS_DOMAIN_ID=0`, the first participant's domain id defaults to `77` to prevent both participants from having a domain id of `0`. | | `ROS_DISCOVERY_SERVER` | | By default is unset. Set it to one of the following formats: `:` or `:` to connect as the Client to the device acting as a Discovery Server. To specify multiple addresses, use semicolons as separators. The server's ID is determined by its position in the list (starting from `0`). If there's an empty space between semicolons, it indicates that the respective ID is available. Eg. `ROS_DISCOVERY_SERVER=";;abc:123;;;def:456"` means that the ID of `abc:123` is `2` and ID of `def` is `5`| | `DISCOVERY_SERVER_ID` | `0` | The ID of the local Discovery Server | | `DISCOVERY_SERVER_LISTENING_PORT` | | By default is unset. Set it to a number between `0` to `65535` to activate DDS Router in the Discovery Server - Server config. | | `EXIT_IF_HUSARNET_NOT_AVAILABLE` | `FALSE` | When set to `FALSE`, if the Husarnet Daemon HTTP API is unreachable, the system behaves as though `USE_HUSARNET=FALSE`. When set to `TRUE`, the container stops if it cannot connect to the Husarnet Daemon API. | | `EXIT_IF_HOST_TABLE_CHANGED` | `FALSE` | Valid only if `DS_LISTENING_PORT` and `ROS_DISCOVERY_SERVER` envs are unset and thus starting the **Initial Peers** config. This env is useful in connection with `restart: always` Docker policy - it restarts the DDS Router with a new Initial Peers list applied (the Initial Peers list is not updated by the DDS Router in runtime) | ### Localhost related | env | default value | description | | - | - | - | | `ROS_LOCALHOST_ONLY` | `0` | If set to `1` it's equivalent to the `whitelist-interfaces="127.0.0.1"` (for ROS 2 Humble) or `ignore-participant-flags = "filter_different_host"` (for ROS 2 Iron) | | `LOCAL_PARTICIPANT` | | set the non-husarnet, [local participant](https://eprosima-dds-router.readthedocs.io/en/latest/rst/user_manual/participants/simple.html#user-manual-participants-simple). It's alternative to providing `/local-participant.yaml` as a volume | | `FILTER` | | It's alternative to providing `/filter.yaml` as a volume | example for `LOCAL_PARTICIPANT` env: ```yaml services: ros2router: image: husarnet/husarnet-ros2router:1.4.0 network_mode: host environment: LOCAL_PARTICIPANT: | - name: SimpleParticipantLocal kind: local domain: 123 transport: udp ROS_LOCALHOST_ONLY: 1 # adds localhost only setup for LOCAL_PARTICIPANT ROS_DISTRO: iron ``` ## Topic Filtering The Docker image for the Husarnet ROS 2 Router can accept a portion of the typical ROS 2 Router configuration `*.yaml` file. This segment only includes the `allowlist`, `blocklist`, and `builtin-topics` sections. The provided configuration is then integrated with the automatically generated config file content. Here's a sample of the `filter.yaml` file: Example of the `filter.yaml` file: ```yaml allowlist: - name: "rt/camera/color/image_raw/theora" type: "theora_image_transport::msg::dds_::Packet_" - name: "rt/camera/color/image_raw/compressed" type: "sensor_msgs::msg::dds_::CompressedImage_" - name: "rt/cmd_vel" type: "geometry_msgs::msg::dds_::Twist_" blocklist: [] builtin-topics: [] ``` Note that each ROS 2 topic name is preceded with `rX/` prefix (more [here](https://design.ros2.org/articles/topic_and_service_names.html)): | **ROS Subsystem** | **Prefix** | | - | - | | ROS Topics | `rt` | | ROS Service Request | `rq` | | ROS Service Response | `rr` | | ROS Service | `rs` | | ROS Parameter | `rp` | | ROS Action | `ra` | The repository includes the `create_filter.sh` script, which facilitates the automated creation of [DDS Router filter rules](https://eprosima-dds-router.readthedocs.io/en/latest/rst/user_manual/configuration.html#id1): ```bash curl -s https://raw.githubusercontent.com/husarnet/husarnet-ros2router/main/create_filter.sh > create_filter.sh chmod +x create_filter.sh ./create_filter.sh /chatter /cmd_vel > filter.yaml ``` Modify the `filter.yaml` file if needed and assign it as a bind mount volume: ```bash docker run \ --detach \ --restart=unless-stopped \ --network host \ -e ROS_DOMAIN_ID \ -v $(pwd)/filter.yaml:/filter.yaml \ husarnet/ros2router:1.2.0 ``` ## Example Setups ### Setup 1 Husarnet operates on the Host OS. ROS 2 nodes on the host use `ROS_DOMAIN_ID=1`, and the goal is to ensure all ROS 2 topics are accessible to other peers in the Husarnet network. The DDS Router should also restart with each reboot of the host OS. 1. Docker Compose ```yaml services: ddsrouter: image: husarnet/ros2router:1.2.0 restart: always network_mode: host environment: - ROS_DOMAIN_ID=1 ``` 2. Docker run ```bash docker run --name ddsrouter \ --restart always \ --network host \ -e ROS_DOMAIN_ID=1 \ husarnet/ros2router:1.2.0 ``` ### Setup 2 Husarnet operates on the Host OSes with hostnames `host_a` and `host_b`, and `host_c`. The goal is to ensure all ROS 2 topics are accessible to other peers in the Husarnet network. We want to use a Discovery Server setup, where `host_a` is a server, and `host_b` and `host_c` are clients. 1. `compose.yaml` for `host_a`: ```yaml services: ddsrouter: image: husarnet/ros2router:1.2.0 network_mode: host environment: - LISTENING_PORT=11888 - ID=2 # 0 - id of the Discovery Server running on local machine (host_a:11888) ``` 2. `compose.yaml` for `host_b`: ```yaml services: ddsrouter: image: husarnet/ros2router:1.2.0 network_mode: host environment: - ROS_DISCOVERY_SERVER=";;host_a:11888" # 2x;; becasuse ID of host_a DS is 2 - ID=5 ``` 3. `compose.yaml` for `host_c`: ```yaml services: ddsrouter: image: husarnet/ros2router:1.2.0 network_mode: host environment: - ROS_DISCOVERY_SERVER=";;host_a:11888" - ID=7 ``` ### Setup 3 Husarnet runs on the Host OS. While ROS 2 nodes on the are in `ROS_DOMAIN_ID=0` (default), the aim is to make only the `/chatter` topic available to other peers within the Husarnet network. 1. `compose.yaml` ```yaml services: ddsrouter: image: husarnet/ros2router:1.2.0 network_mode: host volumes: - ./filter.yaml:/filter.yaml ``` 2. `filter.yaml` ```yaml allowlist: - name: "rt/chatter" type: "std_msgs::msg::dds_::String_" blocklist: [] builtin-topics: [] ``` ## Quick Start ### Option 1: Initial Peers config 1. Connect both hosts to the same Husarnet network (eg. named `host_a` and `host_b`). 2. On both `host_a` and `host_b` execute: ```bash docker run \ --detach \ --restart=unless-stopped \ --network host \ -e ROS_DOMAIN_ID \ husarnet/ros2router:1.2.0 ``` 3. Start a chatter demo: - on the `host_a`: ```bash ros2 run demo_nodes_cpp talker ``` - on the `host_b`: ```bash ros2 run demo_nodes_cpp listener ``` ### Option 2: Discovery Server config 1. Connect both hosts to the same Husarnet network (eg. named `host_a` and `host_b`). 2. Execute on `host_a`: ```bash docker run \ --detach \ --restart=unless-stopped \ --network host \ -e DISCOVERY_SERVER_PORT="11888" \ husarnet/ros2router:1.2.0 ``` 3. Execute on `host_b`: ```bash docker run \ --detach \ --restart=unless-stopped \ --network host \ -e ROS_DISCOVERY_SERVER="host_a:11888" \ husarnet/ros2router:1.2.0 ``` 4. Start a chatter demo: - on the `host_a`: ```bash ros2 run demo_nodes_cpp talker ``` - on the `host_b`: ```bash ros2 run demo_nodes_cpp listener ``` ### Option 3: custom config 1. Connect both hosts to the same Husarnet network (eg. named `host_a` and `host_b`). 2. Create a DDS Router config file on the `host_a`: ```bash user@host_a:~$ vim config.yaml ``` with the following content: ```yaml version: v3.0 allowlist: - name: "rt/chatter" type: "std_msgs::msg::dds_::String_" participants: - name: SimpleParticipant kind: local domain: 0 - name: ServerDSParticipant kind: local-discovery-server discovery-server-guid: id: 200 listening-addresses: - domain: host_a port: 11811 transport: udp ``` 3. Create a DDS Router config file on the `host_b`: ```bash user@host_b:~$ vim config.yaml ``` with the following content: ```yaml version: v3.0 allowlist: - name: "rt/chatter" type: "std_msgs::msg::dds_::String_" participants: - name: SimpleParticipant kind: local domain: 0 - name: ClientDSParticipant kind: local-discovery-server discovery-server-guid: id: 202 connection-addresses: - discovery-server-guid: id: 200 addresses: - domain: host_a port: 11811 transport: udp ``` 4. On both `host_a` and `host_b` execute (in the same folder as `config.yaml` file): ```bash docker run --name ros2router \ --restart=unless-stopped \ --network host \ --ipc host \ --user $(id -u):$(id -g) \ -v $(pwd)/config.yaml:/config.yaml \ -v /etc/group:/etc/group:ro \ -v /etc/passwd:/etc/passwd:ro \ -v /etc/shadow:/etc/shadow:ro \ -e AUTO_CONFIG=FALSE \ husarnet/ros2router:1.2.0 bash -c "ddsrouter -c /config.yaml -r 10" ``` 5. Start a chatter demo: - on the `host_a`: ```bash export ROS_DOMAIN_ID=0 ros2 run demo_nodes_cpp talker ``` - on the `host_b`: ```bash export ROS_DOMAIN_ID=0 ros2 run demo_nodes_cpp listener ```

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