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Created August 21, 2024 07:59
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ROS 2 Unicast Configuration for FastDDS
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README.md

Overview

This setup is designed for environments where multiple users share the same network, such as classrooms or office spaces. It addresses the issue of multicast-related disruptions in ROS 2 by enforcing unicast communication through FastDDS. By configuring ROS 2 to search for topic entities only within the loopback address and disabling multicast, this setup maintains network cleanliness and reliability.

While similar to the ROS_LOCALHOST_ONLY=1 configuration, this approach offers added flexibility. It allows for seamless integration with additional devices by configuring them manually, which is not feasible with ROS_LOCALHOST_ONLY.

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docker-compose.yml
# docker-compose.yml
services:
ros:
build: .
environment:
- FASTDDS_DEFAULT_PROFILES_FILE=/fastrtps_default_profiles.xml
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- RMW_FASTRTPS_USE_QOS_FROM_XML=1
command: sleep infinity
Raw
Dockerfile
# Dockerfile
FROM ros:humble
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y \
ros-humble-demo-nodes-cpp \
iproute2 tmate tcpdump&& \
apt-get clean && \
rm -rf /var/lib/apt/lists/*
RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
COPY <<EOF /fastrtps_default_profiles.xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<participant profile_name="disable_multicast" is_default_profile="true">
<rtps>
<builtin>
<metatrafficUnicastLocatorList>
<locator/>
</metatrafficUnicastLocatorList>
<initialPeersList>
<locator>
<udpv4>
<address>127.0.0.1</address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
</rtps>
</participant>
</profiles>
EOF
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