No communication through tunnel interface on balena

[Timple]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

Both my laptop, an ubuntu server as the balena device are connected to the same zerotier network.
(Balena setup like this).

On my laptop I run a dds listener (using a ros2 node):

docker run --rm -it --net=host ros:humble /bin/bash -c 'apt-get update -qq && apt-get install -qqy ros-humble-demo-nodes-cpp && source /opt/ros/humble/setup.bash && ros2 run demo_nodes_cpp listener'

On the server I can run a talker:

docker run --rm -it --net=host ros:humble /bin/bash -c 'apt-get update -qq && apt-get install -qqy ros-humble-demo-nodes-cpp && source /opt/ros/humble/setup.bash && ros2 run demo_nodes_cpp talker'

This works, I am now seeing:

[INFO] [1697045332.110629381] [listener]: I heard: [Hello World: 5]

Current behavior

However now I try the same in balena:

balena ssh uuid.local
balena run --rm -it --net=host ros:humble /bin/bash -c 'apt-get update -qq && apt-get install -qqy ros-humble-demo-nodes-cpp && source /opt/ros/humble/setup.bash && ros2 run demo_nodes_cpp talker'

No output shown by the listener.

I intentionally dressed it down to this, typically we use docker-compose files.

When I try the same strategy with all three devices on the same local network, everything works fine.

Steps to reproduce

See above

Fast DDS version/commit

fastdds in docker: ros:humble. However same results for iron.

Platform/Architecture

Other. Please specify in Additional context section.

Transport layer

UDPv4

Additional context

Using the Fast DDS monitor and a discovery-server. I can see the zerotier interface is not listed as communication candidate.

I tried to setup a ddsrouter with udp or tcp communication:

• no communication to the remote balena device
• yes communication to the remote ubuntu server

XML configuration file

No XML configuration. Everything ROS Humble defaults.

Relevant log output

root@f4c56ba:/# ip link show ztwdjbk2e5
21: ztwdjbk2e5: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 2800 qdisc fq_codel state UNKNOWN mode DEFAULT group default qlen 1000
    link/ether aa:8b:b7:ab:3d:42 brd ff:ff:ff:ff:ff:ff

From the docker. Same on the remote server as the balena device

Network traffic capture

As expected, wireshark on my laptop does not show any messages from the balena device.

More hints on how to debug this are appreciated. I wonder why the node on the balena device does not see the zerotier tunnel device as valid option to communicate with.

[JLBuenoLopez]

@Timple

Regretfully, Fast DDS does not have official support for balena devices. Consequently, according to the project's CONTRIBUTING guidelines I am moving the issue to the unofficial support forum. You might also be interested on contacting eProsima's commercial support team for getting support for your specific use case.

[Timple]

You are right, it belongs here. I never thought of using the discussions page as a forum, so I thought the link just reverted back to the same repository. Thanks for the move!