Clarification on connectivity test

General
1

I’m a bit confused about what exactly is expected here.

  1. For the “connecting to the assigned robot via ROS” part, does this mean I only need to subscribe to a specific topic or am I expected to launch a specific ROS node or run some program to demonstrate full connectivity?
  2. Regarding “viewing the camera via ROS” is it sufficient to visualize the camera stream in RViz2, or is another method expected like subscribing to an image topic and displaying it with a custom node.
2
  1. Subscription to any live topic is fine
  2. Viewing camera in RViz is fine

Yes - this test is meant to be simple - we want to check the infrastructure on both sides and not require a ton of work beforehand

3

Also, related to this topic could you let us know approximately how much time will be provided for pulling the Docker image as it was only given that for 1 intake 15 minutes will be provided. And around how much internet speed can we expect on the user computer?

4

Connectivity test is between the robot and your setup (i.e. teleoperation one). On-site compute will not be available during this test - so no container download will be neither available nor required.

As per all the tests - we’re aiming for a symmetric ~1Gbps connection (some of that will be used for streaming and communication, some of that will be used for the Husarnet overhead - so expect less than that).

1 Like
5

Hi everyone,

I noticed in the technical book that a Fast DDS XML profile will be provided.

I’d like to ask: is the usage of that profile similar to how a custom Fast DDS XML is used for setting up a discovery_server, as shown in the Connecting ROS 2 Nodes with the Custom FastDDS XML Config File | Husarnet?

Specifically, will we just need to use the provided XML file (e.g., by setting the FASTRTPS_DEFAULT_PROFILES_FILE), or are there additional steps or configurations we should be aware of?

Thanks in advance!

6

Facing a few issues regarding the Husarnet Discovery Server

Hi,
My team and me were trying to set up Husarnet and we are facing a few issues with the setup.

We have followed everything step by step mentioned in the link : Connecting ROS 2 Nodes with the ROS_DISCOVERY_SERVER env | Husarnet

We have two systems with a docker containing ros2 jazzy installed along with Husarnet in two different networks.

We are able to see all the systems that joined the network in the dashboard and set to online. We have set up the discovery server and a listener in one of them, and a talker in another.

After following the procedures of exporting the environmental variables and initiating the talker and listener,the listener can’t hear the chatter topic. We tried to individually publish topics, and still can’t view any of the topics on the other system, and even on our system

Have we missed any step that is important, please let us know.
Thank you
Aryan
Criss Robotics