Building zenoh-bridge-dds #84
Replies: 3 comments 3 replies
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Can you please provide more details on your setup:
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Thanks for those details. Few comments on what you're doing:
To summarise, here is what you can test:
source ~/.ros2rc
export UHLC_MAX_DELTA_MS=1000 #system to system clock skew allowance
echo $ROS_DOMAIN_ID
echo "PORT 7447"
RUST_LOG=info /home/ghost/zenoh-comms/bot_scripts/zenoh-bridge-dds -d $ROS_DOMAIN_ID
-e tcp/172.31.88.148:7447 \
--rest-http-port \
--no-multicast-scouting \
--allow "vel|battery|joint|mission|command|gx5|heartbeat|bounding_box|alerts|motorData|imu|rosout|mm" \
--max-frequency "gx5=1" \
--max-frequency "joint=10" \
--max-frequency "state=10" \
&> /home/ghost/zenoh.log &
If still not working, please provide the complete log of the bridge on AWS EC2 instance, as well as the commands you're trying on AWS to receive the topics. |
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on AWS we run ubuntu@ip-172-31-88-148:~/ghost_workspace$ ./connect.sh or we try zenohd on AWS ubuntu@ip-172-31-83-126:~/ghost_workspace$ zenohd robot script #!/bin/bash source ~/.ros2rc export UHLC_MAX_DELTA_MS=1000 #system to system clock skew allowance export ROS_DOMAIN_ID=123 export PORT=7447 echo You are trying to connect to TCP $ENDPOINT RUST_LOG=info /home/ghost/zenoh-comms/bot_scripts/zenoh-bridge-dds -d $ROS_DOMAIN_ID robot output ghost@ghost:~/zenoh-comms/bot_scripts$ ./zenoh_server.sh more topics.... no errors From PC we have this script: #!/bin/bash #set variables here export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp #output all settings #run pc script It seems we are connected but still, we can't echo topics with a new terminal. Trying to make a REST API to prove the connection. I use apache for this, The code for the web is HTTP from Ubuntu install on the EC2 instance... is this the right way to go? |
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We have AWS EC2 and ROS2 robot using zenoh.io ROS global bridge using public static IPs on both ends.
Both endpoints are zenoh version 0.7.0 built with RUST
Zenoh connects the two endpoints OK
However, we are unable to ROS2 topic share at this time over the connection
We are looking for help with ROS2 topic sharing over the zenoh global bridge plugin between AWS EC2 and ROS2 robot
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