ROS2无法互相交谈的Docker容器

Question

我正在使用带有不同网络设置的ROS Galactic的Docker容器玩耍，但我无法获得 robot_container_1 和 robot_container_2 互相交谈。

我有两个网络上的 robot_container_1 rob_net 和 dev_net ，使其有点像网络中心。然后我有 robot_container_2 on rob_net 和 robot_container_3 on dev_net 。容器2和3应该彼此隔离，因为它们在不同的网络上，但是容器1应该能够与2和3进行通信。但是，出于某种原因，容器2没有听到从容器1发表的主题（容器3（容器3）听到了）。

我尝试从容器2中ping容器1，反之亦然，并且能够确认它们可以互相ping。

不确定为什么会发生这种情况...

任何帮助都将受到赞赏！

Dockerfile：

# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.234.0/containers/ubuntu/.devcontainer/base.Dockerfile
# [Choice] Ubuntu version (use ubuntu-22.04 or ubuntu-18.04 on local arm64/Apple Silicon): ubuntu-22.04, ubuntu-20.04, ubuntu-18.04
#ARG VARIANT="jammy"
#FROM mcr.microsoft.com/vscode/devcontainers/base:0-${VARIANT}
FROM osrf/ros:galactic-desktop

# [Optional] Uncomment this section to install additional OS packages.
# RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
#     && apt-get -y install --no-install-recommends <your-package-list-here>

RUN echo "source /opt/ros/galactic/setup.bash; echo ROS environment sourced" >> /home/.bashrc

Docker-Compose.yml：

version: '3'

networks:
  rob_net:
    name: robot_net
  dev_net:
    name: custom_net

services:
  robot_container_1:
    build: ./
    command: ros2 run demo_nodes_cpp talker
    networks:
      - rob_net
      - dev_net

  robot_container_2:
    build: ./
    command: ros2 run demo_nodes_cpp listener
    networks:
      - rob_net

  robot_container_3:
    build: ./
    command: ros2 run demo_nodes_cpp listener
    networks:
      - dev_net

终端输出：

Starting robot_machine_robot_container_3_1 ... done
Starting robot_machine_robot_container_2_1 ... done
Starting robot_machine_robot_container_1_1 ... done
Attaching to robot_machine_robot_container_3_1, robot_machine_robot_container_2_1, robot_machine_robot_container_1_1
robot_container_1_1  | [INFO] [1653500334.977882081] [talker]: Publishing: 'Hello World: 1'
robot_container_3_1  | [INFO] [1653500334.978566582] [listener]: I heard: [Hello World: 1]
robot_container_1_1  | [INFO] [1653500335.977827578] [talker]: Publishing: 'Hello World: 2'
robot_container_3_1  | [INFO] [1653500335.978318044] [listener]: I heard: [Hello World: 2]
robot_container_1_1  | [INFO] [1653500336.977837587] [talker]: Publishing: 'Hello World: 3'
robot_container_3_1  | [INFO] [1653500336.978320811] [listener]: I heard: [Hello World: 3]
robot_container_1_1  | [INFO] [1653500337.977835219] [talker]: Publishing: 'Hello World: 4'
robot_container_3_1  | [INFO] [1653500337.978418682] [listener]: I heard: [Hello World: 4]
robot_container_1_1  | [INFO] [1653500338.977836173] [talker]: Publishing: 'Hello World: 5'
robot_container_3_1  | [INFO] [1653500338.978390953] [listener]: I heard: [Hello World: 5]
robot_container_1_1  | [INFO] [1653500339.977832089] [talker]: Publishing: 'Hello World: 6'
robot_container_3_1  | [INFO] [1653500339.978390637] [listener]: I heard: [Hello World: 6]
robot_container_1_1  | [INFO] [1653500340.977834528] [talker]: Publishing: 'Hello World: 7'
robot_container_3_1  | [INFO] [1653500340.978335281] [listener]: I heard: [Hello World: 7]
robot_container_1_1  | [INFO] [1653500341.977838098] [talker]: Publishing: 'Hello World: 8'
robot_container_3_1  | [INFO] [1653500341.978314358] [listener]: I heard: [Hello World: 8]
robot_container_1_1  | [INFO] [1653500342.977831499] [talker]: Publishing: 'Hello World: 9'
robot_container_3_1  | [INFO] [1653500342.978335463] [listener]: I heard: [Hello World: 9]
robot_container_1_1  | [INFO] [1653500343.977838141] [talker]: Publishing: 'Hello World: 10'
robot_container_3_1  | [INFO] [1653500343.978360043] [listener]: I heard: [Hello World: 10]
robot_container_1_1  | [INFO] [1653500344.977782701] [talker]: Publishing: 'Hello World: 11'
robot_container_3_1  | [INFO] [1653500344.978188119] [listener]: I heard: [Hello World: 11]
robot_container_1_1  | [INFO] [1653500345.977757730] [talker]: Publishing: 'Hello World: 12'
robot_container_3_1  | [INFO] [1653500345.978233287] [listener]: I heard: [Hello World: 12]
robot_container_1_1  | [INFO] [1653500346.977751814] [talker]: Publishing: 'Hello World: 13'
robot_container_3_1  | [INFO] [1653500346.978220924] [listener]: I heard: [Hello World: 13]
robot_container_1_1  | [INFO] [1653500347.977699661] [talker]: Publishing: 'Hello World: 14'
robot_container_3_1  | [INFO] [1653500347.977952816] [listener]: I heard: [Hello World: 14]
robot_container_1_1  | [INFO] [1653500348.977798119] [talker]: Publishing: 'Hello World: 15'
robot_container_3_1  | [INFO] [1653500348.978270520] [listener]: I heard: [Hello World: 15]
robot_container_1_1  | [INFO] [1653500349.977750424] [talker]: Publishing: 'Hello World: 16'
robot_container_3_1  | [INFO] [1653500349.978302051] [listener]: I heard: [Hello World: 16]
robot_container_1_1  | [INFO] [1653500350.977773543] [talker]: Publishing: 'Hello World: 17'
robot_container_3_1  | [INFO] [1653500350.978304486] [listener]: I heard: [Hello World: 17]
robot_container_1_1  | [INFO] [1653500351.977724151] [talker]: Publishing: 'Hello World: 18'
robot_container_3_1  | [INFO] [1653500351.977892328] [listener]: I heard: [Hello World: 18]
robot_container_1_1  | [INFO] [1653500352.977775013] [talker]: Publishing: 'Hello World: 19'
robot_container_3_1  | [INFO] [1653500352.978231984] [listener]: I heard: [Hello World: 19]
robot_container_1_1  | [INFO] [1653500353.977815266] [talker]: Publishing: 'Hello World: 20'
robot_container_3_1  | [INFO] [1653500353.978300983] [listener]: I heard: [Hello World: 20]

Answer 1

我现在面临同一问题。有或没有Docker-Compose。我做的一个简单的测试是运行空为空的“ ROS2主题列表”。从论坛上，我了解到解决方案可以运行“ ROS2 DAEMON Stop＆amp; amp; ros2守护程序开始”。有效，但仅适用于许多容器 - 第二，第三，第三个主题等。运行图像不会显示（主机上运行ROS2主题列表）。不知道这是否是我对Docker原则的误解。我现在所关注的是：
Foxy-Ros-base - ＆gt; mybaseImage-＆gt; Image1
|
Image2

SO运行（Docker运行）Image1和Image2在最好的情况下，我可以列出Image1中的主题（通过停止和启动ROS2守护程序内部的主题），但不能同时列出。如果我在Image2中进行同样的停止并启动守护程序，我将无法列出Image1中的主题。

Answer 2

解决的速度更快的方法是将共享内存添加到容器中
-v/dev/shm：/dev/shm

i报价

Fast-DD的最后发行版随默认情况下的共享模式传输。使用-net =主机意味着两个DDS参与者都认为他们在同一台计算机中，他们尝试使用共享声音而不是UDP

进行通信

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