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ROS2 Container to container communication

To-Do

  • Determine why multicast send and receive are not working on our network

Setup

In this setup we have two containers:

  1. The Boston Dynamics ROS2 Spot ROS2 container in the an extension file build using these instructions.
  2. Our container built for spot

Network

Container Configuration

Extension Container

So

  1. You need to ssh into the CORE I/O via the default IP of 192.168.80.3 or 192.168.50.3 if you are connected directly to the CORE I/O.  
    • ssh 192.168.80.3
  2. You need to find the container id of your ROS2 installation. 
    • sudo docker container ls
  3. Once you have your container id you will need to open up into the container. 
    • sudo docker exec -it 8966bcde886b /bin/bash # replace "8966bcde886b" with your container id

The Extension container was setup with the following commands to test:

ping 192.168.50.20 # Ping test the dev computer.

export ROS_DISCOVERY_SERVER=192.168.50.5:21000 # This was changed from the BD default of 192.168.80.3 because we are using our own WiFi setup that bypasses Spot's internal network.

source ./install/setup.bash # Source workspace
source /opt/ros/humble/setup.bash # Source ROS2

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

The Dev container was setup with the following commands to test:

ping 192.168.50.5 # Ping test the CORE I/O.

export ROS_DISCOVERY_SERVER=192.168.50.5:21000 # This was changed from the BD default of 192.168.80.3 because we are using our own WiFi setup that bypasses Spot's internal network.

source ./install/setup.bash # Source workspace
source /opt/ros/humble/setup.bash # Source ROS2

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

 

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