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ros2 / rmw_cyclonedds

ROS 2 RMW layer for Eclipse Cyclone DDS
Apache License 2.0
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multiple network interfaces unicast can not work with multiple PC #459

Open Cmccm123 opened 1 year ago

Cmccm123 commented 1 year ago

Bug report

Required Info:

Steps to reproduce issue

I have a network setup on robot:

localPC:

Robot Ip address: 172.30.1.24&192.168.2.48 My local pc ip address:192.168.2.61

my CycloneDDS setup: 

<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
  <Domain id="any">
    <General>
        <NetworkInterfaceAddress>eth0,wlan0</NetworkInterfaceAddress>`
        <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
            <Peer Address="127.0.0.1" />
            <Peer Address="192.168.2.61" />
      </Peers>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>

Everything was working fine, but today the same settings suddenly not work :(

The situation is the same as #455. I used wireshark in local PC, found that the SPDP packets being sent over wlan0 are coming from 172.30.1.24

here is the CycloneDDS log.

log.zip

Expected behavior

Only the local pc and the robot itself can view the ros topic of the robot on wlan0. eth0 has no limit

Actual behavior

local pc can not access ros topic of the robot.

Other Info

Please feel free to contact me if you need any further information. Thank you for the special care you have given to the matter. :)

Best regards

Cmccm123 commented 1 year ago

update: The CycloneDDS log is provided by robot

clalancette commented 1 year ago

Galactic is now End of Life. Could you please try your setup with Humble or Iron and see if you have the same issue? Thank you.