ROSCon 2024 Workshop: Demystifying ROS 2 Networking

Important

For this workshop, you will need a way to run ROS 2 Humble with a desktop environment. There are a few options for this but using a Virtualbox virtual machine is recommend as it has everything pre-installed.

Tip

Watch this repository to get notified of updates.

Setup

Virtualbox

• Virtualbox can be installed on Windows/macOS/Linux using the instructions here: https://www.virtualbox.org/wiki/Downloads
• No need to install the VirtualBox Extension Pack.
• Download the virtual machine from (warning 10GB download): https://drive.google.com/file/d/1Da5Xe49RaEhADSNuUyq481WLAx81efdk/view?usp=sharing
• The sha256sum is 97f7c35d02e9306253af11838294500f6a57c31e63071f4c6fbc67656de6f17c
• Import the virtual machine into into Virtualbox.
• The login credentials:
  • user: robot
  • password: clearpath
• Use sudo hostnamectl set-hostname NEW_HOSTNAME_HERE to change to an unique name.
• Install nmap using: sudo apt install -y nmap
• Update the workshop repo using: cd roscon2024-workshop-demystifying-ros2-networking; git pull

Other setup

The following packages are used for the workshop:

• iperf3
• nmap
• ssh
• wireshark
• python3-rosdep
• ros-dev-tools
• ros-humble-desktop (Install ROS 2 Humble: https://docs.ros.org/en/humble/Installation.html)
• ros-humble-turtlebot4-desktop
• git repo roscon2024-workshop-demystifying-ros2-networking (git clone https://github.com/clearpathrobotics/roscon2024-workshop-demystifying-ros2-networking.git)
• docker-ce (Install docker, preferably in your laptop rather than in the VM: https://docs.docker.com/engine/install/)
• ZettaScale container image: (Pull using docker pull zettascaletech/roscon2024_workshop)
• git repo ZettaScaleLabs/roscon2024_workshop (git clone https://github.com/ZettaScaleLabs/roscon2024_workshop.git)

Exercises

1. Linux Networking

Basic linux networking debugging commands.

2. ROS 2 Daemon

ROS 2 command line tools and how to use them reliably.

3. Simple Discovery

Node simple discovery and how to set and use domain IDs.

4. Discovery Server

FastDDS discovery server.

5. Turtlebots