3
votes
Accepted
Difference between QoS and rmw_qos_profile
The rclcpp::QoS class was introduced here. As the main reason is mentioned: 'Adds an rclcpp version of QoS, which requires the history depth to be specified if ...
- 2,749
2
votes
Can we publish a topic to another ROS_DOMAIN_ID?
The ROS_DOMAIN_ID is provided to isolate systems. The purpose of it is that nodes with different IDs set will not interact. So in general they are designed to not interact.
You don't share information ...
- 25.5k
2
votes
Zenoh with turtlebot4
I recently gave an online webinar about the Zenoh plugin for ROS 2.
It includes a detailled explanation of the Turtlebot4 + Zenoh demo we showed at ROSCon 23.
Here is a direct link to this sequence:
...
- 56
1
vote
DDS and Simulation Time
As there is no answer for over 4 months I will provide some approaches:
Is it required that use_sim_time is set to true? Why not using SystemTime as well?
...
1
vote
Connecting multiple dds-discovery-servers between each other
I think I have found the solution (here for details): when setting the ROS_DISCOVERY_SERVER environmental variable one needs to specify the IP address in the "right slot". So each IP address ...
- 21
1
vote
DDS discovery with multiple network interfaces
Instead of using the 2 Ethernet interfaces on the same computer, you can simply add a small network switch to your hardware setup. With this, you can bring all the computers in the same subnet after ...
- 11
1
vote
Accepted
[ROS2][rclcpp][services] Service not being created
The problem is you're saving the output of create_service in a local variable only. When the constructor ends, the local variable is destroyed along with the ...
- 280
1
vote
ROS2 connectivity across Docker containers via Host Driver
The issue seems to be related to Fast-DDS trying to establish connections over SHM. The issue has been described multiple times, latest here: https://github.com/eProsima/Fast-DDS/issues/3475
I haven't ...
- 21
1
vote
How to avoid ROS2 topic messages to be transferred over the network while used on the same machine?
Have you tried don't route cyclone setting? Also set localhost to 1.
- 208
1
vote
How to avoid ROS2 topic messages to be transferred over the network while used on the same machine?
It's probably not "topic" messages that you are seeing, but rather it's the DDS layer probing to find other ros nodes. Many people have complained about excessive bandwidth use by this ...
- 1,157
1
vote
ROS2 humble zero copy
Did you see this extra config required if you want to enable the loaned message API?
https://github.com/ros2/rmw_fastrtps?tab=readme-ov-file#enable-zero-copy-data-sharing
To enable Loaned Messages in ...
- 691
1
vote
ROS2 DDS behavior when network is saturated
In my experience, when you are getting messages initially and then no longer get any successful messages after some time, the problem is the ipv4 frag buffer settings on the receiving end. This ...
- 111
1
vote
Can ROS 2 services and actions span subnets?
I've researched and experimented with this a bit trying to send ROS2 messages between subnets on separate vehicles. The problem I always ran into was multicast topic discovery. This is because ...
- 33
1
vote
Accepted
How to change default DDS during ros2 source compiling?
The mechanisms for controlling RMW implementation selection are handled in the rmw_implementation package .
At the time that you are building ...
- 1,781
1
vote
MAVROS vs DDS/ROS Bridge: Updates?
External control for a skid-steer or diff-drive rover using DDS with ArduPilot was added here: https://github.com/ArduPilot/ardupilot/pull/25204.
It does not support omni-vehicles, but could be ...
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