Issue bridging ROS 2 topics from a local subnet via Husarnet

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Hi,

I’m struggling with a ROS 2 Humble networking setup. I’m trying to use ros2router to bridge a local network to a Remote PC over Husarnet, but I’ve hit a wall with topic discovery.

My setup:

  • Subnet Device (192.168.123.x): A local ROS 2 node. I can’t modify this device or install Husarnet on it.

  • Gateway PC (Ubuntu): My main workstation. It’s connected to the Subnet Device via Ethernet and also runs Husarnet to talk to the outside world.

  • Remote PC: Outside the local network, connected via Husarnet.

What’s happening:

  1. Gateway PC sees everything on the 192.168.123.x network just fine.

  2. Remote PC can see topics published by the Gateway PC.

  3. The problem: The Remote PC cannot see any topics coming from the subnet device.

It feels like the ros2router is only sharing local topics from the Gateway PC itself and isn’t forwarding the info from the Ethernet interface (192.168.123.y) over to the Husarnet interface.

I’ve been following the discovery-server demo and using CycloneDDS.

My question is:

  • Does ros2router actually support “relaying” discovery info between two different physical interfaces like this?

Any tips or config snippets would be a huge lifesaver. Thanks in advance!

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