Configuring CycloneDDS for communication with ROS 2 in Docker Container

Hello,

I'm using the Matlab ROS Toolbox in combination with ROS 2 running inside of WSL2+Docker. For different reasons I'm using CycloneDDS as the middleware.

The issue is, that I can neither discover Matlab topics from Docker nor Docker topics from Matlab.

I've tried to configure CycloneDDS similar to how FastDDS is configured here. However, I can't figure out how to tell Matlab which config file to use for CycloneDDS.

The issues pesists with the docker containers running both on net=host as well as net=bridge. Also the discovery seems to work with Maltab using FastDDS (which is not a feasible solution for me).

I appreciate any help on this topic!

ROS Distro: Iron

[Abhishek]

This could be an issue due to cross-distro communication. May I know what MATLAB version are you using?

[Ansgar]

It's R2024a.

Answer 1

[Supraja]

Hello Ansgar,

I understand that you are using MATLAB ROS Toolbox with ROS 2 and using Cyclone DSS as an intermediate.

Please find the documentation links below which will guide you in using the ROS toolbox:

ROS Toolbox: https://in.mathworks.com/help/ros/

Work with ROS2 messages:https://in.mathworks.com/help/ros/ug/work-with-basic-ros-2-messages.html

Examples of ROS Toolbox: https://in.mathworks.com/help/ros/examples.html?category=robots-and-simulators

I hope this helps!

Answer 2

[Ansgar]

Short update: I managed to work around this issue by adding the WSL network interface to the Cyclone DDS configuration. When I posted this question I wasn't even sure how to accomplish this for Cyclone DDS.

Here's the answer: The Cyclone DDS configuration file can be set using the Windows environment variable CYCLONEDDS_URI.

The qestion why discovery fails without additional configuration remains open.

[Daniel]

How does your configuration look like?