save

customize/cyclonedds_zerotier.xml

@@ -0,0 +1,26 @@
+<?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>
+            <NetworkInterfaceAddress>zt3jn7jpga</NetworkInterfaceAddress>
+            <AllowMulticast>true</AllowMulticast>
+            <FragmentSize>1194B</FragmentSize><!-- default: 1344 B minus Husarnet metadata (~150 B) -->
+            <Transport>udp6</Transport>
+        </General>      
+        <Discovery>
+            <Peers>
+            </Peers>
+            <ParticipantIndex>auto</ParticipantIndex>
+            <MaxAutoParticipantIndex>40</MaxAutoParticipantIndex>
+        </Discovery>
+        <Internal>
+            <Watermarks>
+                <WhcHigh>500kB</WhcHigh>
+            </Watermarks>
+        </Internal>
+        <Tracing>
+            <Verbosity>severe</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>

customize/entrypoint.sh

@@ -53,12 +53,46 @@ fi
 #   /zerotier-one/zerotier-cli join 8056c2e21c000001
 #   echo "Joined zerotier network"
 # fi
-# set standard gateway to zerotier interface
-ip route del default
-ip route add default via $(ip addr show zt0 | grep -Po 'inet \K[\d.]+')
-echo "Set zerotier interface as standard gateway"
+# # set standard gateway to zerotier interface
+# ip route del default
+# ip route add default via $(ip addr show zt* | grep -Po 'inet \K[\d.]+')
+# echo "Set zerotier interface as standard gateway"
 # this should now route the ros2 traffic through zerotier?
 
+# # Find the ZeroTier interface name dynamically
+# zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
+
+# if [ -z "$zerotier_interface" ]; then
+#   echo "ZeroTier interface not found."
+#   exit 1
+# fi
+
+# # Set the standard gateway to the ZeroTier interface
+# ip route del default
+# ip route add default via $(ip addr show "$zerotier_interface" | grep -Po 'inet \K[\d.]+')
+
+# echo "Set ZeroTier interface '$zerotier_interface' as the standard gateway."
+
+# Changing apporach to just configure the cyconedds to use the zerotier interface
+
+# For now add respective ip apps to do the stuff below:
+apt update && apt install -y iproute2
+
+# Find the ZeroTier interface name dynamically
+zerotier_interface=$(ip addr show | awk '/^.*: zt/{print $2}' | cut -d ':' -f 1)
+
+if [ -z "$zerotier_interface" ]; then
+  echo "ZeroTier interface not found."
+  exit 1
+fi
+
+echo "Using ZeroTier interface: $zerotier_interface"
+
+# Set the path to your CycloneDDS configuration file
+config_file="/cyclonedds.xml"
+
+# Replace the content between <NetworkInterfaceAddress> tags
+sed -i "s|<NetworkInterfaceAddress>.*</NetworkInterfaceAddress>|<NetworkInterfaceAddress>$zerotier_interface</NetworkInterfaceAddress>|g" "$config_file"
 
 # Execute the command passed into this entrypoint
 exec "$@"

docker-compose.yaml

@@ -54,11 +54,13 @@ services:
       # set correct ros2 parameters: domain id and rmw implementation
       - ROS_DOMAIN_ID=5
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+      - CYCLONEDDS_URI=file:///cyclonedds.xml
     volumes:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
       - ./customize/entrypoint.sh:/entrypoint.sh
+      - ./customize/cyclonedds_zerotier.xml:/cyclonedds.xml
 
     # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
     #   rmp: