Ros2: Connect to webots remotely

[elad-eyal]

I have a robot software which is currently in simulation. Ros2 and webots with two no plugins, one for ros2_control and one direct driver. All rubbing fine under WSL2 Ubuntu 22.04.

As a step in robot bring up, I thought I would be able to host all the software on the robot host (raspberry pi 4b) and communicate with a webots simulation running on my PC through TCP.

I thought it would be a simple matter of setting WEBOTS_CONTROLLER_URL to the PC's IP address.

It seems that this package does not support this. It only connects to localhost? Or am I missing anything

I was able to jury-rig https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2_driver%2Fwebots_ros2_driver%2Fwebots_controller.py by copying it to my project and forcing the url, and this enabled the simple plugin, but it did not enable the ros2_control driver to communicate with webots on PC.

Is there a way to configure the webots controller url that I am not familiar with?

How does the ros2 control plugin know where to find the controller?

Thanks

[elad-eyal]

it seems that searching the IP address works by executing ip route and looking for the default route? At least on my Raspberry Pi running ubuntu 22.04 the default route points to my home router and not the localhost. inability to config this is frustrating.