Skip to content

parameters.md

Latest commit

 

History

History
97 lines (70 loc) · 4.17 KB

parameters.md

File metadata and controls

97 lines (70 loc) · 4.17 KB

Container Details

Turtlebot4-discovery container

This container provides the discovery server utilized by the FastRTPS.

- ROS_DOMAIN_ID=0
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- SERVER_ID=0
- SERVER_IP=0.0.0.0
- SERVER_PORT=11811

Parameter descriptions

  • ROS_DOMAIN_ID: DDS domain identifier. All communicating nodes must share the same domain ID (default 0). Use different IDs to isolate systems.
  • RMW_IMPLEMENTATION: ROS 2 middleware layer. rmw_fastrtps_cpp selects Fast DDS (required for discovery server).
  • SERVER_ID: Unique identifier for the discovery server instance. Use 0 for a single server; increment for multiple servers.
  • SERVER_IP: Bind address for the discovery server. 0.0.0.0 listens on all interfaces; set a specific host IP to restrict binding.
  • SERVER_PORT: Listening port for the discovery server (default 11811). Ensure this port is open in your firewall.

Turtlebot4-simulation container

This container (along with Turtlebot4-discovery container) provides a drop-in replacement for a Turtlebot4 robot that utilize discovery server.

Works as a client of turtlebot4-discovery, and thus update the following variables if turtlebot4-discovery settings change.

- ROS_DOMAIN_ID=0
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- ROS_DISCOVERY_SERVER=127.0.0.1:11811

Parameter descriptions

  • ROS_DOMAIN_ID: Must match the discovery server and all other clients.
  • RMW_IMPLEMENTATION: Keep rmw_fastrtps_cpp to use Fast DDS with discovery server.
  • ROS_DISCOVERY_SERVER: Address of the discovery server the client connects to. Use 127.0.0.1:11811 when all services use network_mode: host on the same machine. If the server runs on another host, set <server-host-ip>:11811.

Data Persistance

  • turtlebot4-simulation/gazebo_data will hold the downloaded gazebo assets
  • turtlebot4-simulation/rviz will hold the maps and other files created by rviz. use /rviz as a prefix for file name or save to /rviz folder via wizard.

Notes:

  • With network_mode: host, containers share the host network namespace, so 127.0.0.1 refers to the host where the server binds. Additionally ipc: host is required for the host to differentiate containers.
  • If you change the server port, update this value accordingly (e.g., 127.0.0.1:<new_port>).

Turtlebot4 container

This container shows a typical client (can be used to run RViz, Nav2 or slamtoolbox) connecting to Turtlebot4 simulation (or a physical robot).

Works as a client of turtlebot4-discovery, and thus update the following variables if turtlebot4-discovery settings change.

- ROS_DOMAIN_ID=0
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- ROS_DISCOVERY_SERVER=127.0.0.1:11811

Parameter descriptions

  • ROS_DOMAIN_ID: Same domain as simulation and discovery.
  • RMW_IMPLEMENTATION: Keep Fast DDS for discovery server support.
  • ROS_DISCOVERY_SERVER: Discovery server endpoint as above.

Turtlebot4-workspace container

This container provides a browser-based VS Code (code-server) environment that connects to Turtlebot4 simulation (or a physical robot).

Works out-of-box as a client of turtlebot4-discovery, and thus update the following variables if turtlebot4-discovery settings change.

- ROS_DOMAIN_ID=0
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- ROS_DISCOVERY_SERVER=127.0.0.1:11811

Parameter descriptions

  • ROS_DOMAIN_ID: Same domain as simulation and discovery.
  • RMW_IMPLEMENTATION: Keep Fast DDS for discovery server support.
  • ROS_DISCOVERY_SERVER: Discovery server endpoint as above.

Access & Folders

  • URL: http://127.0.0.1:8080 (served by the workspace container)
  • Workspace root: /workspace (mounted from ./turtlebot4-workspace/workspace)
  • Persistent settings/extensions:
    • ./turtlebot4-workspace/code-server/config → /root/.config/code-server
    • ./turtlebot4-workspace/code-server/data → /root/.local/share/code-server

ROS Development inside workspace

  • The entrypoint sources ROS automatically for the integrated terminal.
  • Create a ROS 2 overlay inside /workspace if desired:
    • mkdir -p /workspace/turtle_ws/src && cd /workspace && colcon build --merge-install
    • source /workspace/install/setup.bash