1.9.2

Using DDS Router v2.2.0

1.9.1

Upgrading to Fast DDS v2.13.2 that contains a fix to compatibility issues with Cyclone DDS.

1.9.0

1. Introducing echo participant
2. Introducing if participant (works like if-wlan0, if-docker0, if-eth*)
3. Renamed udp to lo participant
4. Removing DISCOVERY_SERVER_LISTENING_PORT env.
5. Removing AUTO_CONFIG env
6. if DISCOVERY_SERVER_ID is different than 0-255, it's value is automatically set from the 10-255 range.
7. Discovery Server - Server config is launched if one of the addresses from ROS_DISCOVERY_SERVER env is the same as host's Husarnet IPv6 (no need for providing DISCOVERY_SERVER_ID env - it is automatically determined in this case)
8. If no port is provided next to host defined in ROS_DISCOVERY_SERVER env, then the default 11811 port number is used.
9. new specs field for DDS Router config:

specs:
  discovery-trigger: reader
  remove-unused-entities: true

How to use?

services:
  ros2router:
    image: husarnet/ros2router:1.9.0
    network_mode: host
    ipc: host
    volumes:
      - ./filter.yaml:/filter.yaml
    environment:
      - PARTICIPANTS=husarnet,shm,lo,if-br-*
      - ROS_DISCOVERY_SERVER=;;;host1;;host2:1234;;;[fc94:6260:26e:e057:9bc:8786:4f8a:c7a6]:1234;;husarnet-local
      - |
        CONFIG_BASE=
          version: v4.0
          specs:
            discovery-trigger: writer
      - ROS_DOMAIN_ID=123

1.8.0

• Introducing PARTICIPANTS env with comma-separated values: husarnet, shm, udp, lan.
• Introducing CONFIG_BASE env that can modify the base config, that looks like that:

version: v4.0
specs:
  discovery-trigger: writer
participants: []

• Removed LOCAL_PARTICIPANT, HUSARNET_PARTICIPANT_ENABLED envs

1.7.0

• Upgrading to DDS Router v2.1.0 (and v4.0 config file format)
• Upgrading to Ubuntu 22.04

1.6.3

Handling gotemplates in filter.yaml files, eg:

allowlist:
  - name: 'rt/{{ .Env.ROBOT_NAMESPACE }}/camera/color/image_raw/{{ .Env.VIDEO_CODEC }}'
    type: '{{if eq .Env.VIDEO_CODEC "theora"}}theora_image_transport::msg::dds_::Packet_{{else if eq .Env.VIDEO_CODEC "compressed"}}sensor_msgs::msg::dds_::CompressedImage_{{end}}'
  - name: 'rt/{{ .Env.ROBOT_NAMESPACE }}/cmd_vel'
    type: 'geometry_msgs::msg::dds_::Twist_'
blocklist: []

1.6.2

Handle multiple envs in the single line in filter.yaml file

1.6.1

You can use any env in filter.yaml (not only ROS_NAMESPACE)

1.6.0

New envs:

• USE_HUSARNET renamed to HUSARNET_PARTICIPANT_ENABLED
• HUSARNET_API_HOST allowing connection with a Husarnet Daemon over a diffrerent interface than 127.0.0.1
• USER allowing you to run a DDS Router as a different user than root (useful for SHM communication between host and Docker)

1.5.0

1. New default value for ROS_LOCALHOST_ONLY. Now it's set to 1 to listen only to the DDS communication on the localhost (remember to set ROS_LOCALHOST_ONLY=1 before starting your ROS 2 nodes on the localhost)

2. If ROS_LOCALHOST_ONLY=0, a new LANParticipant is created with the following config:

- name: LANParticipant
  kind: local
  domain: 0
  transport: udp
  ignore-participant-flags: filter_different_and_same_process

3. Both when the value of the ROS_LOCALHOST_ONLY env is 0 or 1, deppending on the ROS_DISTRO env the following participant is created:

• ROS 2 Humble (default):

- name: LocalUdpParticipant
  kind: local
  domain: 0
  transport: udp
  ignore-participant-flags: no_filter
  whitelist-interfaces:
    - 127.0.0.1

• ROS 2 Iron:

- name: LocalUdpParticipant
  kind: local
  domain: 0
  transport: udp
  ignore-participant-flags: filter_different_host
  whitelist-interfaces: []

4. Removed EXIT_IF_HUSARNET_NOT_AVAILABLE env. If USE_HUSARNET=TRUE (default value) and Husarnet Daemon is not reachable, the conainer exits with the error code.