CycloneDDS is an implementation of the Data Distribution Service (DDS) for Real-Time Systems specification, a middleware protocol for publish/subscribe communication in distributed systems. It is designed to be efficient, scalable, and interoperable across a wide variety of platforms and programming languages.

<aside> ⛔ This has been tested with humble installed on client’s machine and humble installed in docker on Indro commander computer.

</aside>

Installation (Windows):

https://www.zerotier.com/download/

Installation (Ubuntu):

Cyclonedds can be installed from binaries using the apt install commands. Use the below command to install Cyclonedds on Humble.

sudo apt install ros-humble-rmw-cyclonedds-cpp

to install zerotier run the following command

curl -s '<https://raw.githubusercontent.com/zerotier/ZeroTierOne/master/doc/contact%40zerotier.com.gpg>' | gpg --import && \\
if z=$(curl -s '<https://install.zerotier.com/>' | gpg); then echo "$z" | sudo bash; fi

curl -s <https://install.zerotier.com> | sudo bash

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to join a network run the following command (this step can be done during a setup call)

sudo zerotier-cli join <network_id>

How to find <network_id>?

Each <network_id> is specific for each robot and secured for security reason! InDro Robotics Team have access to primary robots.

<aside> 💡 Contact [email protected] to get your <network_id>