husarnet-dds

Automatically generate the DDS configuration for Husarnet.

Installing from releases

Linux/MacOS

Download the binary using curl or wget, which are available on most systems either preinstalled, or obtainable via package manager:

RELEASE="v1.3.6"
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

Windows

On Windows, you can download the binary via GUI from Releases page and place in directory of your liking. To do it right from PowerShell, use wget command which is an alias for Invoke-WebRequest cmdlet:

wget https://github.com/husarnet/husarnet-dds/releases/download/v1.3.4/husarnet-dds-windows-amd64.exe -OutFile husarnet-dds.exe

In order to be able to run the binary from any directory, place it in the directory present in your %PATH% environment variable.

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
FASTRTPS_DEFAULT_PROFILES_FILE	/var/tmp/husarnet-dds/fastdds.xml	path to the output .xml file for RMW_IMPLEMENTATION=rmw_fastrtps_cpp
CYCLONEDDS_URI	file:///var/tmp/husarnet-dds/cyclonedds.xml	path to the output .xml file for 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