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)
- ROS-VM: ros2 multicast receive
Waiting for UDP multicast datagram...
Received from 10.0.0.11:43044: 'Hello World!'
- 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:
- VMware Fusion Player 12.1.1
- Running Ubuntu 20.04.2 LTS 64-bit Desktop
- ROS2 Foxy Fossa
- 8 GB Ram 3-cores available to VMware Fusion virtual machine
- on a 32GB 3.2GHz 6-Core Intel Core i7 2018 MacMini
- running macOS Big Sur 11.0.1
- Ubuntu ufw disabled (no firewall in client OS)
- Robot System
- RaspberryPi 3B+ Ubuntu 20.04 64-bit Server
- ROS2 Foxy Fossa
- Ubuntu ufw disabled (no firewall)
- 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 [::]:*
