Cyclonedds with ZeroUI

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):

  1. Install ZeroTier using below link

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

  2. Once installed, open ZeroTier

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  3. You will not see a separate window for ZeroTier as it it works in background.

  4. On bottom right corner click on ^ to see ZeroTier

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    1. Click on Join New Network

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    2. Enter the provided Network ID by InDro, If this is your first time Contact support for Network ID and on join button.

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    3. Provide your address to support [email protected] (InDro Support) for authorization.

    4. Once Authorized, you can connect your device to your Robot using ZeroTier on Internet. To Verify, you can ping your robot’s ZeroTier IP.

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

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

or

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

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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>

</aside>

Getting Network Address

sudo zerotier-cli info

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Cyclonedds set up:

1️⃣ Getting Interface name

After joining your zerotier network, it will have created a new network interface on your Ubuntu machine. To determine the name of your network interface, use the ifconfig terminal command or sudo zerotier-cli listnetworks:

200 listnetworks <nwid> <name> <mac> <status> <type> <dev> <ZT assigned ips>

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<aside> 💡 If the ifconfig command is not available, you must first install the networking tools package by running the sudo apt install net-tools command.

</aside>

ifconfig

The terminal output from this command should show your interfaces. If you have multiple, more than one interface beginning with z will show up. Here is an example terminal output showing your Zerotier interfaces.

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