Basic Reference

HAVE YOU DONE THE ROS 2 TUTORIALS YET?

If you are trying to do the ROS tutorials in a VM, see Keith's setup guide here

ROS 2 Humble Install

NCR Battlestation Config

The main computer in the NCR lab is managed by UFIT. As such, there are some more hoops we need to jump through. We have two ethernet interfaces. The interface enp0s31f6 is for the UF network and is required for authentication and sudo. The interface enp4s0 is for our local network where all of the robots live.

Route DDS Traffic Through Robot Network

Note

ALL NEW USERS ON THE NCR BATTLESTATION WILL NEED TO PERFORM THIS STEP. OTHERWISE YOUR NODES WILL NOT WORK.

To get all ROS traffic to be routed through the robot network run

sudo nano uf_fastdds_profile.xml

and paste the following code:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

    <transport_descriptors>
        <transport_descriptor>
            <transport_id>MyRobotUDPTransport</transport_id>
            <type>UDPv4</type>
            <interfaceWhiteList>
                <address>192.168.1.100</address>
            </interfaceWhiteList>
            </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="ParticipantUsingRobotUDP" is_default_profile="true">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports> <userTransports>
                <transport_id>MyRobotUDPTransport</transport_id> </userTransports>
        </rtps>
    </participant>

</profiles>

Lastly, set the following environment variables in .bashrc

source /opt/ros/humble/setup.bash
export ROS_DOMAIN_ID=0
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/[email protected]/uf_fastdds_profile.xml

Open a new terminal and run your ROS nodes without any networking issues!

Route DNS Traffic Through UF Network

Warning

ONLY PERFORM THE FOLLOWING STEPS IF YOU ARE SETTING UP THE COMPUTER OR SOMETHING WITH THE NETWORK IS BROKEN.

To make everything work properly, we use the following netplan file. Run sudo nano /etc/netplan/01-network-manager-all.yaml and paste the following:

network:
  version: 2
  renderer: NetworkManager 
  ethernets:
    enp0s31f6: # Your UF Network Interface
      dhcp4: true
      dhcp4-overrides:
        route-metric: 100 # Explicitly set good metric for UF
        use-dns: true # Ensure it uses UF DNS
    enp4s0: # Your Robot Network Interface
      dhcp4: true
      dhcp4-overrides:
        use-routes: false # <--- ADD THIS LINE or ensure it's false
        # You might also want to prevent it from setting DNS if the robot network's DHCP provides one
        use-dns: false # <--- ADD THIS LINE if you only want UF DNS
        # If you absolutely needed a route from it but NOT default, you could give it a high metric:
        # route-metric: 500

After saving, run sudo netplan apply.

super_client_config.xml

I know you forgot this somewhere

<?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>192.168.1.201</address>
                                            <port>11811</port>
                                        </udpv4>
                                    </locator>
                                </metatrafficUnicastLocatorList>
                            </RemoteServer>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>

Add to .bashrc

source /opt/ros/humble/setup.sh
export ROS_DOMAIN_ID=0
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_DISCOVERY_SERVER=192.168.1.201:11811
export FASTRTPS_DEFAULT_PROFILES_FILE=~/super_client_config.xml