[Solved] FastDDS Discovery Server Config Pi5 ROS 2 in Docker

[slowrunner]

[Solved] See Here

How are you connecting to your Create 3?

Wi-Fi and USB Ethernet (ROS 2)

Computer(s) Model(s) and Operating System(s)

Ubuntu 22.04 in Docker over Raspberry Pi 5 PiOS Bookworm

Which version of ROS 2 is installed on your computer?

Humble

Which firmware version is installed on your robot?

H.2.4

Which RMW is your robot running?

FastRTPS

Does your robot have an assigned namespace? If so, please share.

No response

Is the robot connected to a network? If so, what is the network type?

Yes: 2.4GHz Home WiFi

Are there multiple Create 3 robots connected to your network?

No

Is multicast enabled?

Yes

What is the Adapter Board's USB/BLE Toggle currently switched to?

USB

Describe your question.

[SOLVED - See Reply]

I don't think the Create3 is "seeing" my fast dds discovery server - probably needs some special network routing.

Simple Discovery Configuration Works:

• The Raspberry Pi5 runs PiOS and connects to my 5GHz WiFi as 10.0.0.129
• ROS is running inside a Docker Container with host network mapped
• wali_node.py publishes and subscribes topics over 5GHz WiFi
• 5GHz WiFi routes to/from 2.4GHz WiFi
• Create3 publishes/subscribes topics over 2.4GHz WiFi

Fast DDS Discovery Server Configuration Not Working:

• The Raspberry Pi5 runs PiOS and connects to my 5GHz WiFi as 10.0.0.129

• The Raspberry Pi5 has usb0 network address 192.168.186.3 and can see Create3 at 192.168.186.2

• ROS is running inside a Docker Container with "host networking" mapped

• Discovery Server running inside Docker Container with -l 192.168.186.3 -p 11811

• 5GHz WiFi routes to/from 2.4GHz WiFi

• Create3 publishes/subscribes topics with fastdds discovery service enabled with 192.168.186.3:11811

Have the feeling the packets from create3 don't see the discovery server inside the Docker ROS container

[slowrunner]

FastDDS Discovery Server Config to support ROS 2 in Raspberry Pi 5 Docker Container For Create3

Concept:

• Discovery Server is running on the Pi5 inside Docker container
  (because no supported ROS 2 Humble for Ubuntu 23.04)
• Discovery Server has three ports
  • one for Create3,
  • one for Pi5 local nodes and CLI sessions,
  • one for WiFi connected clients such as Desktop Rviz2 or CLI terminal sessions.

Each environment has a configuration/file telling nodes and sessions where in the "network" to find the discovery server.

• export ROS_DISCOVERY_SERVER=x.x.x.x:11811 tells nodes where to find the discovery server
• export FASTRTPS_DEFAULT_PROFILES_FILE=/home/pi/wali_pi5/configs/super_client_configuration_file.xml tell CLI command line ROS commands where to find the discovery server??

I don't actually understand these two exports, UDP, TCP/IP, and ROS 2 messaging. Just saying.

Step-by-step coming after I recover from bashing my head over this, the ntp setup, and the Pi5 usb0 port setup.

[alsora]

This is great!
Please consider submitting a pull request to the create 3 docs with the complete step-by-step, it would be greatly appreciated!

[slowrunner]

Step by Step (PI5 - ROS 2 HUMBLE FastDDS IN DOCKER )

Starting point: Create3, Pi5, and Desktop all running ROS 2 Humble FastDDS "Simple Discovery" - Full visibility on all three.

6. Setup Discovery Server to start in WaLiPi5 Dockered ROS:

• Pi5: added configs/super_client_configuration_file.xml with IP of 127.0.0.1:11811

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <participant profile_name="super_client_profile" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
                        <discoveryServersList>
                            <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
                                <metatrafficUnicastLocatorList>
                                    <locator>
                                        <udpv4>
                                            <address>127.0.0.1</address>
                                            <port>11811</port>
                                        </udpv4>
                                    </locator>
                                </metatrafficUnicastLocatorList>
                            </RemoteServer>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>

• Pi5: added to end of ~/.bashrc:

export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/pi/wali_pi5/configs/super_client_configuration_file.xml

• Pi5: added to start_wali.sh to run in background with a 5s sleep (replaced pi5_wifi_IP with actual IPv4 x.x.x.x)

# echo -e "\n*** Start FastDDS Discovery Server"
echo '*** fastdds discovery -i 0 -l 192.168.186.3 -p 11811 -l pi5_wifi_IP -p 11811 -l 127.0.0.1 -p 11811 &'
fasts discovery -i 0 -l 192.168.186.3 -p 11811 -l pi5_wifi_IP -p 11811 -l 127.0.0.1 -p 11811 &
export ROS_DISCOVERY_SERVER="127.0.0.1:11811"
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/pi/wali_pi5/configs/super_client_configuration_file.xml

7. Create3: Enable Fast DDS discovery server in Create3 Application Configuration

   • check Enable Fast DDS discovery server? box
   • Enter 192.168.186.3:11811 (looks like it is there but need to enter it)
   • Click Save
   • Click Restart Application

8. Configure desktop ROS CLI and any nodes to be "SuperClients" of discovery server:

• Desktop: Create file wali_desk/config/super_client_configuration_file.xml: (replaced PI5_WIFI_IP with actual IPv4 x.x.x.x)

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <participant profile_name="super_client_profile" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
                        <discoveryServersList>
                            <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
                                <metatrafficUnicastLocatorList>
                                    <locator>
                                        <udpv4>
                                            <address>PI5_WIFI_IP</address>
                                            <port>11811</port>
                                        </udpv4>
                                    </locator>
                                </metatrafficUnicastLocatorList>
                            </RemoteServer>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>

• Desktop: add to ~/.bashrc:

export FASTRTPS_DEFAULT_PROFILES_FILE=/home/ubuntu/wali_desk/config/super_client_configuration_file.xml
export ROS_DISCOVERY_SERVER=10.0.0.219:11811

8. Pi5: Confirm Create3 topics visible on WaliPi5 (/dock_status, /odom, /ir_intensity)

   • Confirm immediately
   • Confirm after doing a warm boot of Pi5
   • Confirm after doing a storage/ship shutdown, boot of Create3 and Pi5

9. Pi5: Confirm WaliPi5 topics seen by Create3 (publisth /cmd_vel, publish /dock)

10. Desktop: Confirm Create3 topics reach desktop (/battery_state, /dock_status) and rviz (/odom)

11. Desktop: Confirm WaliPi5 topics reach rviz (/mapUpdate, /oak/color/image_raw, /scan)

12. Desktop: Confirm Desktop topics reach Create3 (pub /dock)