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husarnet-ros2-bridge-lan

graph TB
    subgraph lan
        subgraph host-1
            talker-1
        end
        subgraph host-2
            talker-2
        end
        subgraph husarnet-host-1
            ros2router-1
            husarnet-1
        end
    end

    subgraph husarnet-host-2
        ros2router-2
        husarnet-2
        listener
    end
    
    talker-1-->ros2router-1
    talker-2-->ros2router-1

    ros2router-1-->husarnet-1

    husarnet-1<-->husarnet-2

    ros2router-2-->husarnet-2
    listener-->ros2router-2
Loading

The aim of this project is to show how to bridge local non-husarnet powered devices working in LAN with ROS 2 nodes running on the remote (in different LAN) Husarnet powered device.

Quick Start

Modify the .env file and paste your JOINCODE here:

JOINCODE=fc94:b01d:1803:8dd8:b293:5c7d:7639:932a/xxxxxxxxxxxxxxxxxxxxxxxxxx

1st terminal

docker compose -f compose.talker.yaml up

2nd terminal

You can run this also on the remote host

docker compose -f compose.listener.yaml up

Why?

Note that these containers:

  host-1:
    build: .
    command: ros2 run demo_nodes_cpp talker

  host-2:
    build: .
    command: ros2 run demo_nodes_cpp talker

Are in the same docker network as these containers (husarnet and ros2router share the same network namespace, so they can be considered as a single host within a local Docker network )

  husarnet:
    image: husarnet/husarnet:2.0.180
    # ...

  ros2router:
    image: husarnet/ros2router:1.6.0
    network_mode: service:husarnet
    # ...

On the other hand we run containers on the second Husarnet host within the same network namespace (and additionally with a shared memory config only setup to make sure no traffic goes thgrouh the LAN network):

  husarnet:
    image: husarnet/husarnet:2.0.180
    ipc: shareable
    # ...

  ros2router-2:
    image: husarnet/ros2router:1.6.0
    network_mode: service:husarnet
    ipc: service:husarnet
    # ...

  listener:
    build: .
    network_mode: service:husarnet
    ipc: service:husarnet
    volumes:
      - ./shm-only.xml:/shm-only.xml
    environment:
      - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
    command: ros2 run demo_nodes_cpp listener