eboasson
commented
1 month ago Switch to macOS? đŸ¤” Ah no, bummer, ROS 2 doesn't support macOS anymore ... Joking aside, this is the sort detail where all platforms are completely different. On macOS, selecting "loopback" in Cyclone is sufficient to stop the firewall from interfering all the time ...
It seems reception sockets need to listen on ANY to work properly.
The thing with the address you bind a socket to is that it then only accepts packets destined for that specific address. So binding to 127.0.0.1 will prevent it from receiving multicasts directed to 239.255.0.1 even when you join that group using IP_ADD_MEMBERSHIP (at least that is what I remember from when I was trying some things). I suppose that is why it doesn't work. It could also be that it uses the Ethernet address, say 192.168.1.1, and then binding to 127.0.0.1 will also prevent it from working.
Looking at the code, I suspect that changing the bind_to_any to false at https://github.com/eclipse-cyclonedds/cyclonedds/blob/b4753700e09789346b83e5b0305a09fbec4dfc10/src/core/ddsi/src/ddsi_udp.c#L601 (master) or https://github.com/eclipse-cyclonedds/cyclonedds/blob/454df330c7bc213729ccf714c20807b22d02f007/src/core/ddsi/src/ddsi_udp.c#L455 (releases/0.10.x) might well do the trick: that binds it to the address of the (first, if there are multiple) interface that Cyclone uses.
It could also be that binding the multicast sockets to INADDR_ANY is enough to trigger the firewall. You might get lucky there, though: those won't created with multicast disabled and I think ROS 2 configures it by default to avoid multicast.
Hello,
We are using Cyclone DDS via ROS 2 on Windows. We use it for localhost only by defining
ROS_LOCALHOST_ONLY.We used to work with another DDS and doing so worked well to not trigger the firewall popup from Windows (to configure Inbound rules).
Switching to Cyclone DDS has made our life simpler on various topics, the only drawback so far is our incapacity to start our applications without triggering the Windows firewall. Working with
ROS_LOCALHOST_ONLYand Cyclone DDS config is not enough.I had a quick look in the code and did the following test:
INADDR_ANYand replaced them withINADDR_LOOPBACKddsperfcan no longer find the other instance :sweat_smile:It seems reception sockets need to listen on
ANYto work properly. Have you any idea if it is feasible to make them work by binding to localhost only? Or any other strategy to not trigger the firewall popup?