Hello,
We are currently using ROS 2 Humble due to its compatibility with the simulation models provided for our rover, which are exclusively available for the Humble distribution. Additionally, the official documentation clearly states that in order to use Husarnet DDS, it is necessary to utilize the ROS Discovery Server, which, according to the documentation, is compatible only with ROS 2 Jazzy and ROS 2 Iron versions.
This presents a clear contradiction: while the Humble distribution is required for accessing the simulation models and is the only supported version, the ROS Discovery Server and Husarnet DDS appear to only be compatible with the Jazzy and Iron versions, creating a mismatch in requirements.
It is important to note that, based on the simulation models, we assumed that Humble was the main and only ROS distribution being used. We did not foresee any compatibility issues with Husarnet DDS, as we successfully combined Humble with the Husarnet DDS utility and everything is working perfectly so far.
Given this context, we would like to clarify:
Is it possible to continue using ROS 2 Humble with Husarnet DDS despite the dependency on the ROS Discovery Server, or is it necessary to switch to ROS 2 Jazzy or Iron for compatibility reasons and how we can test it with simulation models because they are not compatible (in this case, the only solution will be to conntect them via ROS Noetic or ROS Iron bridge which will only make the process much more complex with any reason fot that)?
If staying with Humble is acceptable, can we proceed with the existing setup using Husarnet DDS without facing major issues in the following tests and challenges?
We would appreciate any advice or clarification regarding this apparent contradiction.
Thank you for your assistance!
Best regards,
Konstantin, NSpace team.