WIP: Try to set up CycloneDDS networking between 2 docker containers …

…on 2 hosts

docker/docker-compose-operator.yml

@@ -11,7 +11,7 @@ services:
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
-    network_mode: host
+    # network_mode: host
     ipc: host
     pid: host
     # Needed to display graphical applications
@@ -27,3 +27,21 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+    hostname: operator-host
+    domainname: test
+    networks:
+      network:
+        ipv4_address: 192.168.178.101
+
+networks:
+  network:
+    driver: ipvlan
+    driver_opts:
+      parent: wlo1
+      ipvlan-mode: l2
+    ipam:
+      driver: default
+      config:
+        - subnet: 192.168.178.0/24
+          gateway: 192.168.178.1
+          ip_range: 192.168.178.0/24

docker/docker-compose-robot.yml

@@ -11,7 +11,7 @@ services:
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
-    network_mode: host
+    # network_mode: host
     ipc: host
     pid: host
     # Needed to display graphical applications
@@ -28,8 +28,27 @@ services:
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
     devices:
       - /dev/ttyACM0
+    hostname: robot-host
+    domainname: test
+    networks:
+      network:
+        ipv4_address: 192.168.178.100
 
   # Launch
   bringup:
     extends: base
     command: ros2 launch neato_bringup neato.launch.py
+
+
+networks:
+  network:
+    driver: ipvlan
+    driver_opts:
+      parent: enu1u1u1
+      ipvlan-mode: l2
+    ipam:
+      driver: default
+      config:
+        - subnet: 192.168.178.0/24
+          gateway: 192.168.178.1
+          ip_range: 192.168.178.0/24

docker/operator/Dockerfile

@@ -7,6 +7,7 @@ RUN apt update && apt-get install -y --no-install-recommends \
         ros-humble-rmw-cyclonedds-cpp \
         iproute2 \
         net-tools \
+        iputils-ping \
     && rm -rf /var/lib/apt/lists/*
 
 # Prepare CycloneDDS config file

docker/operator/cyclonedds.xml

@@ -5,6 +5,7 @@
             <Interfaces>
                 <NetworkInterface name="wlo1"/>
             </Interfaces>
+            <DontRoute>true</DontRoute>
         </General>
         <Discovery>
             <Peers>
@@ -13,4 +14,4 @@
             <ParticipantIndex>auto</ParticipantIndex>
         </Discovery>
     </Domain>
-</CycloneDDS>
+</CycloneDDS>

docker/operator/entrypoint.sh

@@ -5,4 +5,5 @@
 source /opt/ros/${ROS_DISTRO}/setup.bash
 
 # Execute the command passed into this entrypoint
-exec rviz2
+# exec rviz2
+/bin/bash

docker/robot/cyclonedds.xml

@@ -5,6 +5,9 @@
             <Interfaces>
                 <NetworkInterface name="enu1u1u1"/>
             </Interfaces>
+            <DontRoute>true</DontRoute>
+            <AllowMulticast>false</AllowMulticast>
+            <EnableMulticastLoopback>true</EnableMulticastLoopback>
         </General>
         <Discovery>
             <Peers>