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.

1.4.0

1. New Envs

Removed the following envs:

• ROS_DOMAIN_ID
• ROS_DOMAIN_ID_2
• WHITELIST_INTERFACES
• LOCAL_TRANSPORT

And introduced the LOCAL_PARTICIPANT env that gives more flexibility in setting up the localhost setup. Eg.

services:
  ros2router:
    image: husarnet/ros2router:1.4.0
    network_mode: host
    ipc: shareable
    volumes:
      - ./filter.yaml:/filter.yaml
    environment:
      - DISCOVERY_SERVER_ID=2
      - DISCOVERY_SERVER_LISTENING_PORT=8888
      - ROS_LOCALHOST_ONLY=1
      - ROS_DISTRO
      - |
        LOCAL_PARTICIPANT=
          - name: LocalParticipant
            kind: local
            domain: 0
            transport: udp
          - name: LocalDockerParticipant
            kind: local
            domain: 123
            transport: shm

2. New Default Local Participants

The default local participants (non-husarnet) are defined like that:

- name: LocalParticipant
  kind: local
  domain: 0
  transport: udp
- name: LocalDockerParticipant
  kind: local
  domain: 0
  transport: shm

There is a separate default participant for ROS 2 nodes running on host (LocalParticipant) and for ROS 2 nodes running inside the Docker container (LocalDockerParticipant).

3. New Logic Behind the ROS_LOCALHOST_ONLY Env

The ROS_LOCALHOST_ONLY=1 setup modifies the LocalParticipant setup as follows:

1. for ROS 2 Humble:

- name: LocalParticipant
  kind: local
  domain: 0
  transport: udp
  ignore-participant-flags: "no_filter"
  whitelist-interfaces: "127.0.0.1"
- name: LocalDockerParticipant
  kind: local
  domain: 0
  transport: shm

2. for ROS 2 Iron:

- name: LocalParticipant
  kind: local
  domain: 0
  transport: udp
  ignore-participant-flags: "filter_different_host"
  whitelist-interfaces: []
- name: LocalDockerParticipant
  kind: local
  domain: 0
  transport: shm

3. New Default LAN Setup for USE_HUSARNET=FALSE Env

  - name: RemoteParticipant
    kind: local
    domain: 0
    transport: udp
    ignore-participant-flags: filter_different_and_same_process # Discovery traffic from own host is discarded

1.3.0

Generating superclient.xml config file that can be used (on the host OS level) instead of using husarnet/ros2router Docker image on the DDS Discovery Server client side.

Example:

docker run --rm -it \
  --network host \
  -e ROS_DISCOVERY_SERVER=rosbot2r:11811 \
  -e DISCOVERY_SERVER_ID=10 \
  husarnet/ros2router:1.3.0 \
  cat /var/tmp/superclient.xml | awk '/\?xml version="1.0" encoding="UTF-8" \?/,0' > superclient.xml

export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/superclient.xml

1.2.0

1. Rename envs:
   • LISTENING_PORT to DISCOVERY_SERVER_LISTENING_PORT
   • ID to DISCOVERY_SERVER_ID
2. Support for the ignore-participant-flags
3. Handling ROS_LOCALHOST_ONLY env

1.1.0

Allowing running ros2router Docker image as non-root user, eg.:

  ros2router:
    image: husarnet/ros2router:1.1.0
    network_mode: host
    ipc: host
    pid: host
    user: ${DOCKER_UID:-1000}:${DOCKER_GID:-1000}
    volumes:
      - /etc/group:/etc/group:ro
      - /etc/passwd:/etc/passwd:ro 
      - /etc/shadow:/etc/shadow:ro 
      - /home/husarion/.ros:/home/husarion/.ros
    volumes:
      - ./filter.yaml:/filter.yaml
    environment:
      - WHITELIST_INTERFACES="127.0.0.1" # if setting this param, you need to set "ROS_LOCALHOST_ONLY=1" on this host
      - LISTENING_PORT=11888
      - ID=0
      - ROS_DOMAIN_ID

1.0.0

Initial release