![]() The zero’th ROS 2 process on the computer will connect to ports 32650, 32651, 32660, and 32661. When choosing a domain ID that is near the top of the range of platform-specific domain IDs, one additional constraint should be considered.įor instance, assume a Linux computer with a domain ID of 101: If it is known that the computer will only ever be on a single domain ID at a time, and the domain ID is low enough, it is safe to create more ROS 2 processes than this. When creating the 121st process (120th participant) in domain ID 1, the ports 79 are used for unicast and overlap with domain ID 2. When creating the 120th process (119th participant) in domain ID 1, the ports 78 are used for unicast. When creating the 1st process (zeroth participant) in domain ID 1, the ports 76 are used for unicast. To see why, consider the domain IDs 1 and 2. Since each DDS participant takes up two ports on the computer, running more than 120 ROS 2 processes on one computer may spill over into other domain IDs or the ephemeral ports. Participant constraints įor each ROS 2 process running on a computer, one DDS “participant” is created. If a custom ephemeral port range is used, the above numbers may have to be adjusted accordingly. The ephemeral port range is configurable in Windows by using netsh. ![]() This means that domain IDs 0-166 can be safely used without colliding with ephemeral ports. Here are some platform-specific notes about ephemeral ports.īy default, the ephemeral port range on Windows is 49152-65535. This avoids possible conflicts between the ports used by the ROS 2 nodes and other networking services on the computers. In particular, it is best to avoid allocating domain IDs in the operating system’s ephemeral port range. Platform-specific constraints įor maximum compatibility, some additional platform-specific constraints should be followed when choosing a domain ID. Thus, the highest port number that can be allocated is 65535.ĭoing some math with the formula in the article above, this means that the highest domain ID that can possibly be assigned is 232, while the lowest that can be assigned is 0. Remembering our basic networking, the UDP port is an unsigned 16-bit integer. See this article for details on how the ports are computed. The domain ID is used by DDS to compute the UDP ports that will be used for discovery and communication. To skip that background and just choose a safe number, simply choose a domain ID between 0 and 101, inclusive. The text below explains the derivation of the range of domain IDs that should be used in ROS 2. To avoid interference between different groups of computers running ROS 2 on the same network, a different domain ID should be set for each group. ROS 2 nodes on the same domain can freely discover and send messages to each other, while ROS 2 nodes on different domains cannot.Īll ROS 2 nodes use domain ID 0 by default. In DDS, the primary mechanism for having different logical networks share a physical network is known as the Domain ID. If you want up-to-date information, please have a look at Iron.Īs explained elsewhere, the default middleware that ROS 2 uses for communication is DDS. You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. ROS 2 Technical Steering Committee Charter.On the mixing of ament and catkin (catment).Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations.Passing ROS arguments to nodes via the command-line.Migrating YAML parameter files from ROS 1 to ROS 2.Using ROS 2 launch to launch composable nodes.Using Python, XML, and YAML for ROS 2 Launch Files.Migrating launch files from ROS 1 to ROS 2.Building a package with Eclipse 2021-06.Recording and playing back data with rosbag using the ROS 1 bridge.Setting up efficient intra-process communication.Using quality-of-service settings for lossy networks.Setting up a robot simulation (Ignition Gazebo).Unlocking the potential of Fast DDS middleware. ![]() Using Fast DDS Discovery Server as discovery protocol.Adding physical and collision properties.Building a visual robot model from scratch.Running Tests in ROS 2 from the Command Line.Using stamped datatypes with tf2_ros::MessageFilter.Integrating launch files into ROS 2 packages.Composing multiple nodes in a single process.Writing an action server and client (Python).Writing an action server and client (C++).Writing a simple service and client (Python).Writing a simple service and client (C++).Writing a simple publisher and subscriber (Python).Writing a simple publisher and subscriber (C++).ROS 2 Iron Irwini (codename ‘iron’ May, 2023).
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