Sending DDS message over specific network interface

[henrykotze]

• Hardware description: Jetson Nano
• OS: We are running the foxy docker image for Jetson
• Installation type: cmake
• Version or commit hash: v2.3.0

We are running the Agent on the Jetson Nano communicating via a router to a Nuttx device (PX4). We can see that the Agent is receiving heartbeat messages from the Nuttx device, and receiving messages from the ROS2 nodes running on the Jetson. However it is sending the messages it receives from the ROS2 Nodes on the loopback interface and not the physical network interface.

Is there a way to explicitly tell the Agent to use a specific network interface?

Thanks

[Acuadros95]

Is there a way to explicitly tell the Agent to use a specific network interface?

To accomplish this, you can configure the transport of the Fast dds entities of the Agent. This can be done with a XML profile, take a look at this documentation: Link.

If support on this part is needed, feel free to open an issue at FastDDS repo.

[Acuadros95]

Closing as a solution was provided