Cyclone ROS Middleware

Setting up the Cyclone Profile XML for Remote Computer Communication

If the Clearpath robot has been set to use the Cyclone DDS ROS middleware (see the middleware documentation on how to modify Clearpath's Configuration YAML), it will be required to modify the Cyclone Profile XML to establish communication with a remote computer.

For the robot Cyclone Profile XML, create a file on the robot computer's home directory: /home/robot/.cyclone/profile.xml and copy the contents of the sample robot profile below.

For the user Cyclone Profile XML, create a file on the remote computer, preferably on the home directory: $HOME/.cyclone/profile.xml and copy the contents of the sample remote profile below.

Robot Profile

1. If using a wired connection using the robot's ethernet port:

   a. The remote computer must have a static IP assigned in the range 192.168.131.100 - 192.168.131.255.

   b. Replace the REMOTE_IP with the static IP assigned in the previous step.

   c. The ROBOT_INTERFACE should then be replaced with br0, the robot's bridged interface.

2. If using a wireless connection using a WiFi router:

   a. The robot and remote computer must both be connected to a router and have been assigned an IP address by that router.

   b. Replace the REMOTE_IP with the static IP assigned by the router to the remote computer. Use the ip a command on the remote computer to find the IP address assigned to it.

   c. Replace the ROBOT_INTERFACE with the robot's WiFi interface, by default it should be wlp2s0, but it is recommended to check by using the ip a command on the remote computer to find if the interface has been renamed, in certain cases it could have been renamed to wlp3s0.

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface autodetermine="false" name="ROBOT_INTERFACE" />
            </Interfaces>
            <AllowMulticast>false</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Discovery>
            <EnableTopicDiscoveryEndpoints>true</EnableTopicDiscoveryEndpoints>
        <ParticipantIndex>auto</ParticipantIndex>
        <MaxAutoParticipantIndex>50</MaxAutoParticipantIndex>
            <Peers>
                <Peer Address="REMOTE_IP"/>
                <Peer Address="127.0.0.1"/>
            </Peers>
        </Discovery>
        <Internal>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
    </Domain>
</CycloneDDS>

Remote Profile

1. If using a wired connection using the robot's ethernet port:

   a. Replace the REMOTE_INTERFACE with the name of the ethernet interface used by the remote computer. Use the ip a on the remote computer to find a list of the remote interfaces.

   b. Replace the ROBOT_IP with the robot's static IP. By default, it will be set to 192.168.131.1.

2. If using a wireless connection using a WiFi router:

   a. The robot and remote computer must both be connected to a router and have been assigned an IP address by that router.

   b. Replace the REMOTE_INTERFACE with the remote computer's WiFi interface. Use the ip a command on the remote computer to get a list of all it's interfaces.

   c. Replace the ROBOT_IP with the robot's WiFi IP address. Use the ip a command on the robot's computer to retrieve a list of all of it's interfaces. The IP address will be found under the wireless interface, by default it is named wlp2s0.

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface autodetermine="false" name="REMOTE_INTERFACE" />
            </Interfaces>
            <AllowMulticast>false</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Discovery>
            <EnableTopicDiscoveryEndpoints>true</EnableTopicDiscoveryEndpoints>
        <ParticipantIndex>auto</ParticipantIndex>
        <MaxAutoParticipantIndex>50</MaxAutoParticipantIndex>
            <Peers>
                <Peer Address="ROBOT_IP"/>
                <Peer Address="127.0.0.1"/>
            </Peers>
        </Discovery>
        <Internal>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
    </Domain>
</CycloneDDS>