ROS2 chatter topic not found

Help
1

I’ve followed the follwing link steps

and was able to actually ping another laptop from mine using pin6
however when I publish from one device using the mentioned command

ros2 run demo_nodes_cpp talker`

and trying ros2 topic list from the other laptop, the chatter topic is not present

image
this is a screenshot of the status from the web dashboard

and this is the output of hasurnet status

Version: 2021.11.26.1
Husarnet IP address: fc94:0397:df69:92f5:edad:f4a4:9bf6:f567
Known hostnames: master unity
UDP connection to base: [188.165.23.196]:5582
Peer fc94:b98f:8430:4a93:5248:dc0b:9e77:75c8
  Known hostnames: ros
  source=[156.223.230.204]:5582 
  addresses from base=[127.0.0.1]:5582 [156.223.230.204]:5582 [156.223.230.204]:5582 [192.168.1.23]:5582 
  tunnelled
  secure connection established
Peer fc94:b01d:1803:8dd8:b293:5c7d:7639:932a
  addresses from base=[51.178.64.85]:5582 [51.178.64.85]:30650 [127.0.0.1]:5582 [172.22.0.3]:5582 
  tunnelled
  secure connection established

Am I missing something ?

2

Hi @SeifMostafa , please share your DDS config file and the compose file you are using.

Instead of a simple DDS Discovery Protocol, you can also try using a Fast DDS Discovery Server. Here’s the open source demo - GitHub - DominikN/discovery-server-superclient-demo: A working demo with a Fast DDS Discovery Server and a Super Client DDS Config.

Best,
Dominik

3

Thanks for the reply, this is my DDS configuration file

<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<General>
<NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
<AllowMulticast>false</AllowMulticast>
<MaxMessageSize>65500B</MaxMessageSize>
<FragmentSize>4000B</FragmentSize>
<Transport>udp6</Transport>
</General>
<Discovery>
<Peers>
<Peer address="[ros]"/>
<!--  example: <Peer address="[fc94:dd2c:a2e6:d645:1a36:****:****:****]"/>  -->
</Peers>
<ParticipantIndex>auto</ParticipantIndex>
</Discovery>
<Internal>
<Watermarks>
<WhcHigh>500kB</WhcHigh>
</Watermarks>
</Internal>
<Tracing>
<Verbosity>severe</Verbosity>
<OutputFile>stdout</OutputFile>
</Tracing>
</Domain>
</CycloneDDS>

for the peer address, I also tried putting the actual address shown on the web interface for the client ROS

as for the link you attached, I don’t quite understand how to apply that in my case.
however, I noticed that there are 2 configurations one for the server and another for the client, to my understanding Hausrnet already implements the Server side.

4

Hello @SeifMostafa

Please try removing square brackets in the address attribute.

i.e not

<Peer address="[fc94:dd2c:a2e6:d645:1a36:****:****:****]"/>

But instead

<Peer address="fc94:dd2c:a2e6:d645:1a36:****:****:****"/>

Let us know if that helps.

BR,
Szymon

5

I have the same issue, removing the bracket did not help. I run the talker on a server and husarnet status shows my laptop with green dots for active/securce/peer to peer, but if I run the talker on the server, I don’t get the topic on the laptop