Christen Lofland chrisl8

Configuring Cyclone DDS for Wifi + Ethernet connection on an Enterprise Network (for ROS2)

For communication between wifi and ethernet devices, the DDS layer in ROS2 relies on the multicast ability of a given network.

This is often disabled on enterprise networks (at university or work etc) for (I think) security reasons .

To get around this, you have to configure CycloneDDS to comunicate in a unicast manner, and you must specify the local IPs of all the participants you want to communicate.

_I am using CycloneDDS instead of the default (for ROS2 humble at least) FastDDS, because I ran into lots of issues trying to get topic

	var _instance_num := -1
	var _instance_socket: TCPServer

	func _init() -> void:
	if OS.is_debug_build():
	_instance_socket = TCPServer.new()
	for n in range(0,4):
	if _instance_socket.listen(5000 + n) == OK:
	_instance_num = n
	break

	let widget = await createWidget();
	if (!config.runsInWidget) {
	await widget.presentSmall();
	}

	Script.setWidget(widget);
	Script.complete();

	async function createWidget(items) {