[Docker] Use different `ROS_DOMAIN_ID`s for different containers - Githubissues

StoglRobotics / ros_team_workspace

RosTeamWorkspace is a framework for boosting collaboration in teams when developing software for robots using Robot Operating System (ROS1 and ROS2).

https://rtw.stoglrobotics.de

Apache License 2.0

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[Docker] Use different `ROS_DOMAIN_ID`s for different containers #71

Open destogl opened 1 year ago

destogl commented 1 year ago

[ ] When a docker container is created, generate a random number between 1 and 101 (inclusive).

Explanation: http://docs.ros.org.ros.informatik.uni-freiburg.de/en/foxy/Concepts/About-Domain-ID.html

[ ] Also use only local network inside container with the variable ROS_LOCALHOST_ONLY=1 (hopefully this will use only local network for it.

We should optimize even further:

[ ] Use CycloneDDS instead of FastDDS per default
[ ] Configure no multicast on CycloneDDS per default (use .xml configuration file)
[ ] Use separate networking interface for docker that do not allow broadcasting into network but allow receiving data from it. (maybe ROS should be working on separate network, that would be a solution – see configuration file)