ROS 2 Connectivity Troubleshooting Guide

General
1

Hey everyone! Team SHUNYA here.

During our ROS 2 connectivity tests over Husarnet VPN, we ran into a variety of issues — and we know many teams are facing the same.

So we put together a complete troubleshooting guide based on what worked for us, to help others save time and frustration.

What’s covered in the guide:

  • Correct setup of Fast DDS Discovery Server with Husarnet
  • Fix for topics not visible across devices
  • UFW firewall restrictions and MTU tuning
  • Fixing message mismatches: Twist → TwistStamped conversion* with twist_bridge
  • Image feed issues* (like freezing or lag with /image_raw) and how to handle:

We documented this because connectivity testing is a shared challenge across teams — and solving it early makes all the difference.

Follow along this git link(https://github.com/mission-mangal/shunya_remote2025_connectivity) and let us know if you face any issues.

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2

In general we’re very happy that such guides in a spirit of cooperation are created (and I’ve awarded points for that). A couple of remarks from our side though:

  1. Husarnet Tunelled - all connections start with a tunnelled version and are then upgraded to the P2P one. Restarting Husarnet may worsen the situation actually. Better way would be to starting pinging the other side in advance so the deamon can have a couple of seconds of reasons to upgade the connection to a better one
  2. No config/data is stored in /etc/husarnet. Config is stored in /var/lib/husarnet
  3. Disabling UFW entirely is a bad idea from a security standpoint. Better way would be to unlock only specific ports (i.e starting from 5580 and 5582)
  4. Twist and TwistStamped are afair differences originating from different ROS versions
  5. Enabling DHCP on hnet0 interface may be a bad idea (best case a no-op)