Hello, so I set up my rosbot3pro and everything works fine. I managed to make the slam tutorial work using the husarnet vpn by tweaking the files and adapt them from rosbot2 to the hardware on my rosbot3pro. I have ros Jazzy installed on wsl ubuntu 24 and i ran the tutorial noramlly it works good. My issue is, i cannot see the topics of the robot on my computer in ubuntu. When I run “ros2 topic list” on the robot, i can see all the topics, but when i run it on ubuntu, i do not see any of them only “ /parametre_events and /rosout” show up. both my computer and the robot are linked through husarnet vpn. I even tried using only my wifi (which is an entreprise wifi) and I get the same results. I am able to ping each other through their ip adress, but i cannot seem to view the rosbot3 topics on my computer. I followed the tutorials on ros2 but whatever i seem to do i cannot manage to view the topics or echo the topics when i run tests. To be honest i am not really familiar with the DDS files and all so help would be greatly appreciated. I am pretty new to this so not very confortable with all the technical stuff. I hope someone might help me. My goal would be to be able to retrieve the information inside the topics to do some data processing later.
Thanks for reading.
Hi @Rossiross,
Most likely, all you need to do is change the transport (midleware) in the installed snaps. By default, Husarion OS is set to udp-lo, which uses shared memory for communication, but this communication works only on localhost. For LAN communication, I suggest setting the transport to udp.
sudo snap set rosbot ros.transport=udp
Do the same for the remaining sensor snaps:
sudo snap list | grep husarion
sudo snap set <snap_name> ros.transport=udp
and restart the robot.
hello,
thank you for the reply. Your command was useful as I managed to retrieve the topics on my windows computer both with my local network and using husarnet vpn. The issue is I still cannot see them on ubuntu inside my VM using wsl. I believe it has something to do with the fact that the VM does not have direct wifi contact as it goes through an ethernet port to my computer that has wifi. Is there anyway to view the topics inside ubuntu? Again thanks for your help.
Kindly yours,
Hi @Rossiross,
I don’t have experience with VMs, but it sounds like:
- You need to configure specific settings for the selected middleware
- You need additional permissions for the VM.
In case 1, fastdds (udp) selects only one interface (eth/wifi) by default and sends ROS messages over it. I don’t know if it’s possible to send messages on more than one interface.
You can also use cyclonedds (instead of udp), which is slower but sends messages across all interfaces.
Each middleware can be configured, but I refer you to the documentation for the specific implementation.