ros2/rmw_cyclonedds

multiple network interfaces unicast can not work with multiple PC

Cmccm123 opened this issue · 4 comments

Cmccm123 commented

Bug report

Required Info:

  • Operating System:
    Ubuntu 20.04
  • Installation type:
    binaries
  • Version or commit hash:
    Galactic
  • DDS implementation:
    CycloneDDS 0.8.0

Steps to reproduce issue

I have a network setup on robot:

  • wlan0 has IP address of 192.168.2.0 - netmask 255.255.255.0
  • eth0 has IP address of 172.30.1.0 - netmask 255.255.255.0

localPC:

  • enp8s0 has IP address of 192.168.2.0 - netmask 255.255.255.0 (same network of robot's wlan0)

Robot Ip address: 172.30.1.24&192.168.2.48
My local pc ip address:192.168.2.61

my CycloneDDS setup:

<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>eth0,wlan0</NetworkInterfaceAddress>`
        <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
            <Peer Address="127.0.0.1" />
            <Peer Address="192.168.2.61" />
      </Peers>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>

Everything was working fine, but today the same settings suddenly not work :(

The situation is the same as #455. I used wireshark in local PC, found that the SPDP packets being sent over wlan0 are coming from 172.30.1.24

here is the CycloneDDS log.

log.zip

Expected behavior

Only the local pc and the robot itself can view the ros topic of the robot on wlan0.
eth0 has no limit

Actual behavior

local pc can not access ros topic of the robot.

Other Info

Please feel free to contact me if you need any further information. Thank you for the special care you have given to the matter. :)

Best regards

Cmccm123 commented

update: The CycloneDDS log is provided by robot

clalancette commented

Galactic is now End of Life. Could you please try your setup with Humble or Iron and see if you have the same issue? Thank you.

videh25 commented

Facing same error on Ubuntu 20.04 and ROS Foxy.

clalancette commented

These are very old versions of ROS 2, that are no longer supported. I'm going to close this out for now, but if you are still experiencing the issue on a supported version of ROS 2 (Humble, Iron, or Jazzy), please feel free to open another issue.