• 问题描述:
    • 一台采用桥接模式的ubuntu20.04虚拟机安装了ROS2 foxy系统,旭日x3派的官方系统镜像上安装了TogetherROS和ROS2 foxy官方基础功能包
    • 两个设备均处于同一局域网下,且可以ping通
      # ubuntu20.04虚拟机ping  旭日X3派
      linux@ubuntu:~$ ping 192.168.0.164
      PING 192.168.0.164 (192.168.0.164) 56(84) bytes of data.
      64 bytes from 192.168.0.164: icmp_seq=1 ttl=64 time=109 ms
      64 bytes from 192.168.0.164: icmp_seq=2 ttl=64 time=26.8 ms
      64 bytes from 192.168.0.164: icmp_seq=3 ttl=64 time=49.0 ms
      64 bytes from 192.168.0.164: icmp_seq=4 ttl=64 time=71.7 ms
      64 bytes from 192.168.0.164: icmp_seq=5 ttl=64 time=93.7 ms
      64 bytes from 192.168.0.164: icmp_seq=6 ttl=64 time=115 ms
      64 bytes from 192.168.0.164: icmp_seq=7 ttl=64 time=36.1 ms
      ^C
      --- 192.168.0.164 ping statistics ---
      7 packets transmitted, 7 received, 0% packet loss, time 6012ms
      rtt min/avg/max/mdev = 26.826/71.565/114.568/32.770 ms
      
      # 旭日X3派 ping  虚拟机
      root@ubuntu:~# ping 192.168.0.104
      PING 192.168.0.104 (192.168.0.104) 56(84) bytes of data.
      64 bytes from 192.168.0.104: icmp_seq=1 ttl=64 time=10.2 ms
      64 bytes from 192.168.0.104: icmp_seq=2 ttl=64 time=4.45 ms
      64 bytes from 192.168.0.104: icmp_seq=3 ttl=64 time=4.62 ms
      64 bytes from 192.168.0.104: icmp_seq=4 ttl=64 time=4.69 ms
      64 bytes from 192.168.0.104: icmp_seq=5 ttl=64 time=3.94 ms
      64 bytes from 192.168.0.104: icmp_seq=6 ttl=64 time=3.22 ms
      64 bytes from 192.168.0.104: icmp_seq=7 ttl=64 time=3.79 ms
      64 bytes from 192.168.0.104: icmp_seq=8 ttl=64 time=3.11 ms
      64 bytes from 192.168.0.104: icmp_seq=9 ttl=64 time=5.24 ms
      64 bytes from 192.168.0.104: icmp_seq=10 ttl=64 time=11.9 ms
      ^C
      --- 192.168.0.104 ping statistics ---
      10 packets transmitted, 10 received, 0% packet loss, time 9014ms
      rtt min/avg/max/mdev = 3.109/5.516/11.941/2.867 ms
      
    • 旭日x3派端运行ros2 multicast send,虚拟机端运行ros2 multicast receive, 虚拟机未接收组包数据
      # 旭日X3派
      root@ubuntu:~# source /opt/tros/local_setup.bash
      root@ubuntu:~# ros2 multicast send
      Sending one UDP multicast datagram...
      root@ubuntu:~# ros2 multicast send
      Sending one UDP multicast datagram...
      
      -------------
      # 虚拟机端
      linux@ubuntu:~$ ros2 multicast receive 
      Waiting for UDP multicast datagram...
      
    • 旭日x3派运行talk示例,虚拟机运行listener示例,虚拟机未接收旭日x3派发送过来的数据
      root@ubuntu:~# ros2 run demo_nodes_cpp talker
      [INFO] [1656817593.545958373] [talker]: Publishing: 'Hello World: 1'
      [INFO] [1656817594.537826325] [talker]: Publishing: 'Hello World: 2'
      [INFO] [1656817595.538075689] [talker]: Publishing: 'Hello World: 3'
      [INFO] [1656817596.538064511] [talker]: Publishing: 'Hello World: 4'
      
      linux@ubuntu:~$ ros2 run demo_nodes_cpp listener
      
    • ROS_DOMAIN_ID环境变量未设置,为默认值