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ROS2 Network Setup: Daughter PC (Humble) ↔ Raspberry Pi (Jazzy)

✅ COMPATIBILITY CONFIRMED

ROS2 Humble and Jazzy CAN communicate for teleop operations using geometry_msgs/Twist messages.

🌐 Complete Setup Guide

STEP 1: Network Setup on Daughter PC (Current PC) - ROS2 Humble

# 1. Source ROS2 Humble
source /opt/ros/humble/setup.bash
source install/setup.bash

# 2. Configure ROS2 Network Settings
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET

# 3. Get your IP address
hostname -I

# 4. Test ROS2 is working
ros2 topic list

STEP 2: Network Setup on Raspberry Pi - ROS2 Jazzy

# 1. Source ROS2 Jazzy
source /opt/ros/jazzy/setup.bash
source install/setup.bash

# 2. Configure ROS2 Network Settings (SAME as daughter PC)
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET

# 3. Get Raspberry Pi IP address
hostname -I

# 4. Test ROS2 is working
ros2 topic list

STEP 3: Test Network Connection

On Raspberry Pi:

# Start motor driver
ros2 run ros2_roboclaw_driver ros2_roboclaw_driver_node

On Daughter PC (separate terminal):

# Test connection by listing topics
ros2 topic list

# You should see topics from both systems including:
# /cmd_vel (for motor commands)
# /arduino_encoder (for encoder feedback)

STEP 4: Run Teleop Control

Option A: Using the built-in teleop node

# On Daughter PC
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=0

# Run teleop
ros2 run robo_mower_teleop teleop_tank_robot

Option B: Using manual topic commands

# Forward
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.3, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

# Backward  
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: -0.3, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

# Turn Left
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.5}}"

# Turn Right
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.5}}"

# Stop
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

STEP 5: Monitor Robot Status

# Monitor encoder feedback
ros2 topic echo /arduino_encoder

# Monitor motor commands
ros2 topic echo /cmd_vel

# Check all active topics
ros2 topic list

# Check nodes
ros2 node list

🔧 Environment Setup Scripts

Daughter PC Setup (setup_daughter_pc.sh)

#!/bin/bash
# Source this before every session
source /opt/ros/humble/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
echo "✅ Daughter PC (Humble) ready for network control!"

Raspberry Pi Setup (setup_raspberry_pi.sh)

#!/bin/bash
# Source this on Raspberry Pi before every session
source /opt/ros/jazzy/setup.bash
source install/setup.bash
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=0
export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
echo "✅ Raspberry Pi (Jazzy) ready for network control!"

🚨 Important Notes

  1. Same Network: Ensure both devices are on the same WiFi network
  2. Same Domain ID: Both devices MUST use ROS_DOMAIN_ID=42
  3. Same RMW: Both devices MUST use rmw_fastrtps_cpp
  4. Firewall: Ensure firewalls allow multicast traffic on ports 7400-7500 (UDP)
  5. Session Specific: Environment variables are terminal-session specific

🔍 Testing Workflow

  1. Network Connectivity: ping <raspberry_pi_ip>
  2. ROS2 Discovery: ros2 topic list (should show topics from both systems)
  3. Message Flow: ros2 topic echo /cmd_vel while sending commands
  4. Robot Response: Physical movement should occur

⚠️ Troubleshooting

  • No topics visible: Check ROS_DOMAIN_ID matches on both systems
  • Commands not working: Verify /cmd_vel topic exists with ros2 topic info /cmd_vel
  • Network issues: Check firewall settings and multicast support
  • Discovery problems: Try ros2 daemon stop && ros2 daemon start