ROS 2 Jazzy DDS communication from docker container on macOS to raspberri pi 5 ROS 2 Jazzy

Question

problem:

• Cannot communicate from ROS2 Jazzy on raspberry pi to ROS2 Jazzy on docker container on MacOS

Host

• MacOS Version: 15.1
• Container Image: arm64v8/ros:jazzy
• Docker Version: 4.34.3
• Docker Host Networking: Enabled
• Docker Subnet: 192.168.65.0/24
• Ping from Raspberry Pi: Successful

Robot

• OS: Ubuntu 24.04.1 LTS
• Ping from Mac: Successful
• IP Address: 192.168.2.9

Docker Run Command

docker run -it --rm  \
--network host \
--pid=host \
--ipc=host \
--entrypoint \
/bin/bash \
my_jazzy

DDS Server init

rover@rover-pi:~/Fast-DDS/build$ fastdds discovery --server-id 0
### Server is running ###
Participant Type:   SERVER
Security:           NO
Server ID:          0
Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
Server Addresses:   UDPv4:[0.0.0.0]:11811

env var pi

rover@rover-pi:~$ env | grep ROS_
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ROS_DISTRO=jazzy
ROS_DISCOVERY_SERVER=192.168.2.9:11811

env var mac

dev@docker-desktop:~$ env | grep ROS_
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DOMAIN_ID=1
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ROS_DISTRO=jazzy
ROS_DISCOVERY_SERVER=192.168.2.9:11811

---

cammands tried:

pi

ros2 run demo_nodes_cpp talker --ros-args --remap __node:=talker_discovery_server

ros2 run demo_nodes_cpp talker

mac

ros2 run demo_nodes_cpp listener --ros-args --remap __node:=listener_discovery_server

ros2 run demo_nodes_py listener

Answer 1

My setup includes macOS, docker, Ubuntu 24.04 vm on UTM on macOS, Raspberry Pi 5 running Ubuntu 24.04. The Ubuntu images are for 64-bit ARMv8 processors and can be found here. The ros images are ROS2 Jazzy Jalisco for Arm and can be found here.

Ubuntu 24.04 on Raspberry Pi 5(Running ROS2 Jazzy)

• Discovery Server (it could also be in container)

Docker container on Ubuntu 24.04 VM in UTM on macOS

• listener

Docker container on Ubuntu 24.04 on Raspberry Pi 5

• talker

Please find settings and commands below:

pi5

• Terminal 1: run the dds server fastdds discovery -i 0 -l 192.168.2.9 -p 11811 192.168.2.9 is the IP address of the device running the server
• Terminal 2: run docker talker container sudo docker run -it --rm --network host --ipc=host --entrypoint /bin/bash <your ROS2 image>

talker host must have ENV variable set to:

ROS_DISCOVERY_SERVER=192.168.2.9:11811
ROS_DOMAIN_ID=1

listener host must have the following:

FASTRTPS_DEFAULT_PROFILES_FILE=./super_client_configuration_file.xml
ROS_DOMAIN_ID=1

listener must have config file stored somewhere (and passed to FASTRTPS_DEFAULT_PROFILES_FILE)

    <?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>192.168.2.9</address> <!-- IP address of the Discovery server that  is running-->
                                             <port>11811</port><!-- port of Discovery server that is running-->
                                         </udpv4>
                                     </locator>
                                 </metatrafficUnicastLocatorList>
                             </RemoteServer>
                         </discoveryServersList>
                     </discovery_config>
                 </builtin>
             </rtps>
         </participant>
     </profiles>
 </dds>