husarnet-dds

README

husarnet-dds

Automatically generate the DDS configuration for Husarnet.

Installing from releases

RELEASE="v1.3.3"
ARCH="amd64"

sudo curl -L https://github.com/husarnet/husarnet-dds/releases/download/$RELEASE/husarnet-dds-linux-$ARCH -o /usr/local/bin/husarnet-dds
sudo chmod +x /usr/local/bin/husarnet-dds

Building

go build -o husarnet-dds

Using

warning

Target file name specified in FASTRTPS_DEFAULT_PROFILES_FILE or CYCLONEDDS_URI paths should contain 'husarnet' substring. Otherwise, the config will be saved under a default location.

Fast DDS - simple discovery

On Linux/MacOS, using bash:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=./husarnet-fastdds-simple.xml
husarnet-dds singleshot

On Windows, using PowerShell

$env:RMW_IMPLEMENTATION = 'rmw_fastrtps_cpp'
$env:FASTRTPS_DEFAULT_PROFILES_FILE = '.\husarnet-fastdds-simple.xml'
.\husarnet-dds.exe singleshot

Fast DDS - discovery server

Device acting as a SERVER

Let's assume that the Husarnet hostname of the device is my-server:

export DISCOVERY_SERVER_PORT=11811
husarnet-dds singleshot

Launching the discovery server:

fast-discovery-server -i 0 -x /var/tmp/husarnet-dds/fastdds-ds-server.xml

Device acting as a CLIENT

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=./husarnet-fastdds-ds-client.xml
export ROS_DISCOVERY_SERVER=my-server:11811
husarnet-dds singleshot

Cyclone DDS

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file://./husarnet-cyclone.xml
husarnet-dds singleshot

Launching husarnet-dds as a service

You can run husarnet-dds in a service mode. It will start automatically after system reboot, and every 5 seconds it will update the hosts in DDS .xml profile files.

Installing

Unix-like systems, using bash:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/var/tmp/husarnet-dds/husarnet-fastdds.xml

sudo husarnet-dds install $USER \
-e RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION \
-e FASTRTPS_DEFAULT_PROFILES_FILE=$FASTRTPS_DEFAULT_PROFILES_FILE

On Windows, using PowerShell as Administrator:

$env:RMW_IMPLEMENTATION = 'rmw_fastrtps_cpp'
$env:FASTRTPS_DEFAULT_PROFILES_FILE = 'C:\Users\husarnetman\Desktop\dds\husarnet-fastdds-simple.xml'

.\husarnet-dds.exe install LocalSystem -e RMW_IMPLEMENTATION=$env:RMW_IMPLEMENTATION `
-e FASTRTPS_DEFAULT_PROFILES_FILE=$env:FASTRTPS_DEFAULT_PROFILES_FILE

Be sure to provide absolute path to the file which will be watched, as in the example.

Available environment variables

key	default value	description
RMW_IMPLEMENTATION	rmw_fastrtps_cpp	Choosing a default DDS implementation. Possible values rmw_fastrtps_cpp and rmw_cyclonedds_cpp
FASTRTPS_DEFAULT_PROFILES_FILE	/var/tmp/husarnet-dds/fastdds.xml	path to the output .xml file if RMW_IMPLEMENTATION=rmw_fastrtps_cpp
CYCLONEDDS_URI	/var/tmp/husarnet-dds/cyclonedds.xml	path to the output .xml file if RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ROS_DISCOVERY_SERVER	(unset)	set it ONLY for devices running in Fast DDS Discovery Server "Client mode". The value of this env should have the following format: <Husarnet-hostname-of-discovery-server>:<PORT>, eg. my-ds-server:11811
DISCOVERY_SERVER_PORT	11811	set it ONLY for devices running in Fast DDS Discovery Server "Server mode"

Starting

sudo husarnet-dds start

Now you can check the status of the service on Linux and last logs like that:

sudo systemctl status husarnet-dds.service 

sudo journalctl --unit husarnet-dds.service -n 100 

On Windows, see services.msc

Removing

sudo husarnet-dds stop
sudo husarnet-dds uninstall

Creating a new release

git tag v1.0.0 main
git push origin v1.0.0 main