First off, I know next to nothing about udp, multicast, or dynamic discovery.
PROBLEM: ROS2 nodes in my Fusion VM cannot publish or subscribe with ROS2 nodes running on my RaspberryPi robot.
What I know:
- ROS2 uses dynamic discovery with udp on ports 7400, 7412, 7413
- Ping works in both directions - from VM to bot, and from bot to VM
- ros2 multicast receive on VM "hears" ros2 multicast send from bot (multicast to VM is working)
- ros2 multicast send on VM does not succeed with ros2 multicast receive on bot (multicast from VM is not working)
- VM is configured with Bridged Network Adapter (have tried both bridged ethernet and bridged WiFi)
- VM System:
- Robot System
- Robot ports:
pi@ROSbot:~$ ss -tulw Netid State Recv-Q Send-Q Local Address:Port Peer Address:Port Process icmp6 UNCONN 0 0 *%wlan0:ipv6-icmp *:* udp UNCONN 0 0 0.0.0.0:7400 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:7412 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:7413 0.0.0.0:* udp UNCONN 0 0 127.0.0.1:58641 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:34723 0.0.0.0:* udp UNCONN 0 0 127.0.0.53%lo:domain 0.0.0.0:* udp UNCONN 0 0 10.0.0.11%wlan0:bootpc 0.0.0.0:* tcp LISTEN 0 4096 127.0.0.1:45585 0.0.0.0:* tcp LISTEN 0 4096 127.0.0.53%lo:domain 0.0.0.0:* tcp LISTEN 0 128 0.0.0.0:ssh 0.0.0.0:* tcp LISTEN 0 128 [::]:ssh [::]:* tcp LISTEN 0 100 *:8888 *:*
- VM System ports:
ubuntu@rosdesk:~$ ss -tulw Netid State Recv-Q Send-Q Local Address:Port Peer Address:Port Process icmp6 UNCONN 0 0 *:ipv6-icmp *:* udp UNCONN 0 0 127.0.0.1:39592 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:60176 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:7400 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:7412 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:7413 0.0.0.0:* udp UNCONN 0 0 127.0.0.53%lo:domain 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:37045 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:631 0.0.0.0:* udp UNCONN 0 0 0.0.0.0:mdns 0.0.0.0:* udp UNCONN 0 0 [::]:44486 [::]:* udp UNCONN 0 0 [::]:mdns [::]:* tcp LISTEN 0 4096 127.0.0.53%lo:domain 0.0.0.0:* tcp LISTEN 0 5 127.0.0.1:ipp 0.0.0.0:* tcp LISTEN 0 5 [::1]:ipp [::]:*
Final solution - change my WiFi router - the xFinity router was flaking out the communications, sometimes passing everything, sometimes allowing ssh but not udp or arp, and sometimes blocking everything.
Changed my 2.4GHz WiFi access to my 10 year old router and perfect communications every time.
Final solution - change my WiFi router - the xFinity router was flaking out the communications, sometimes passing everything, sometimes allowing ssh but not udp or arp, and sometimes blocking everything.
Changed my 2.4GHz WiFi access to my 10 year old router and perfect communications every time.
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