Connecting ROS 2 Nodes with Husarnet
There are several ways to connect your ROS 2 nodes running on different hosts within a Husarnet group. Depending on the ROS distribution, preferred DDS implementation, and your system requirements, you can choose from the available options:
| Method | Effort level | ROS Distributions (LTS) | ROS middleware (RMW) |
|---|---|---|---|
Using the ROS_STATIC_PEERS env | 🌴easy | ROS 2 Jazzy | rmw_cyclonedds_cpp |
Using the ROS_DISCOVERY_SERVER env | 🌴easy | ROS 2 Jazzy | rmw_fastrtps_cpp |
Using the FASTRTPS_DEFAULT_PROFILES_FILE env | 🏜️medium | ROS 2 Jazzy, ROS 2 Humble, ROS 2 Foxy | rmw_fastrtps_cpp |
Using the CYCLONEDDS_URI env | 🏜️medium | ROS 2 Jazzy, ROS 2 Humble, ROS 2 Foxy | rmw_cyclonedds_cpp |
Using husarnet-dds utility | 🏜️medium | ROS 2 Humble | rmw_fastrtps_cpp, rmw_cyclonedds_cpp |
Using husarnet/ros2router Docker image | 🏜️medium | ROS 2 Jazzy, ROS 2 Humble, ROS 2 Foxy | rmw_fastrtps_cpp, rmw_cyclonedds_cpp |