ros2cli network tests

[tfoote]

Test the basic functionality of the ros2cli package family in an environment where nodes are running on other machines on the network.

Setup

• Rmw: Connext
• BuildType: Source
• Chip: Amd64
• Os: Windows

Links

• Repo URL

Checks

• Node discovery

  With another node running, use ros2 node list to ensure that the expected node is listed. Then stop the node and ensure that the list operation no longer shows the node.

• Topic discovery

  With another node running, use ros2 topic list to ensure that the expected topics are listed. Then stop the node and ensure that the list operation no longer shows the node's topics.

• Service discovery

  With another node running, use ros2 service list to ensure that the expected services are listed. Then stop the node and ensure that the list operation no longer shows the node's services.

• Parameter discovery

  With another node running, use ros2 param list to ensure that the expected parameters are listed. Then stop the node and ensure that the list operation no longer shows the node's parameters.

---

You can find the code used to generate this test case here

[zamantousif]

I am testing this ticket with source installation on Windows 10 machine with rmw_connextdds.
I ran into the following errors although it seems to work fine with other RMW implementations.

[zamantousif]

Okay some updates.

I had the RTI 7.5.0 installed with an evaluation license on my Windows 10 machine which needed to be copied (please see below).

I followed the instructions under the Quick Start guide on the rmw_connextdds github page.

NOTE: The instructions require to be run as an administrator and the use of VS Command Prompt so I was running them as administrator in a x64 Native Tools Command Prompt for VS 2019 shell. Failing to run in VS cmd prompt would throw the error VisualStudioVersion is not set, please run within a Visual Studio Command Prompt.

After this, in the same shell I was able to build the overlay workspace with the rmw_connextdds packages and run the ros2 cli commands. Unfortunately, only some of them work while some do not. I have attached the screenshot below.

Setup

• Rmw: Connext
• BuildType: Source
• Chip: Amd64
• Os: Windows

Checks

• [ ]
  [x] Node discovery
  With another node running, use ros2 node list to ensure that the expected node is listed. Then stop the node and ensure that the list operation no longer shows the node.
  [ ]
  [x] Topic discovery
  With another node running, use ros2 topic list to ensure that the expected topics are listed. Then stop the node and ensure that the list operation no longer shows the node's topics.
  [ ]
  [x] Service discovery
  With another node running, use ros2 service list to ensure that the expected services are listed. Then stop the node and ensure that the list operation no longer shows the node's services.
  [ ]
  [] Parameter discovery
  With another node running, use ros2 param list to ensure that the expected parameters are listed. Then stop the node and ensure that the list operation no longer shows the node's parameters.

I opened an issue about the ros2 param list on rmw_connextdds page.

[zamantousif]

@ahcorde could you kindly take a look at the above results and let me know if there is something more to try? please also assign the ticket to me.

[zamantousif]

Tried this with RTI 7.3.0 as it is the supported version on Windows 10 machine with rmw connext and ros2 source workspace

Terminal 1

(pixi_ros2_rolling) C:\dev>ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py
C:\dev\kilted\install\Lib\site-packages\launch\logging\__init__.py:149: UserWarning: Cannot create a symlink to latest log directory: [WinError 1314] A required privilege is not held by the client: 'C:\\Users\\zaman\\.ros\\log\\2025-05-21-01-00-26-870054-MSI-4048' -> 'C:\\Users\\zaman\\.ros\\log\\latest'

  warnings.warn(
[INFO] [launch]: All log files can be found below C:\Users\zaman\.ros\log\2025-05-21-01-00-26-870054-MSI-4048
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dummy_map_server.EXE-1]: process started with pid [11588]
[INFO] [robot_state_publisher.EXE-2]: process started with pid [16028]
[INFO] [dummy_joint_states.EXE-3]: process started with pid [22748]
[INFO] [dummy_laser.EXE-4]: process started with pid [3608]
[dummy_laser.EXE-4] [INFO] [1747778428.555446500] [dummy_laser]: angle inc:     0.004363
[dummy_laser.EXE-4] [INFO] [1747778428.555815900] [dummy_laser]: scan size:     1081
[dummy_laser.EXE-4] [INFO] [1747778428.555947000] [dummy_laser]: scan time increment:       0.000000
[robot_state_publisher.EXE-2] [INFO] [1747778428.614385600] [robot_state_publisher]: Robot initialized

Terminal 2 with the node running

(pixi_ros2_rolling) C:\dev>ros2 node list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
/dummy_joint_states
/dummy_laser
/dummy_map_server
/robot_state_publisher

(pixi_ros2_rolling) C:\dev>ros2 service list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
/dummy_joint_states/describe_parameters
/dummy_joint_states/get_parameter_types
/dummy_joint_states/get_parameters
/dummy_joint_states/get_type_description
/dummy_joint_states/list_parameters
/dummy_joint_states/set_parameters
/dummy_joint_states/set_parameters_atomically
/dummy_laser/describe_parameters
/dummy_laser/get_parameter_types
/dummy_laser/get_parameters
/dummy_laser/get_type_description
/dummy_laser/list_parameters
/dummy_laser/set_parameters
/dummy_laser/set_parameters_atomically
/dummy_map_server/describe_parameters
/dummy_map_server/get_parameter_types
/dummy_map_server/get_parameters
/dummy_map_server/get_type_description
/dummy_map_server/list_parameters
/dummy_map_server/set_parameters
/dummy_map_server/set_parameters_atomically
/robot_state_publisher/describe_parameters
/robot_state_publisher/get_parameter_types
/robot_state_publisher/get_parameters
/robot_state_publisher/get_type_description
/robot_state_publisher/list_parameters
/robot_state_publisher/set_parameters
/robot_state_publisher/set_parameters_atomically

(pixi_ros2_rolling) C:\dev>ros2 topic list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
/joint_states
/map
/parameter_events
/robot_description
/rosout
/scan
/tf
/tf_static

(pixi_ros2_rolling) C:\dev>ros2 param list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
/dummy_joint_states:
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time
/dummy_laser:
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time
/dummy_map_server:
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time
/robot_state_publisher:
  frame_prefix
  ignore_timestamp
  publish_frequency
  qos_overrides./joint_states.subscription.depth
  qos_overrides./joint_states.subscription.history
  qos_overrides./joint_states.subscription.reliability
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  qos_overrides./tf.publisher.depth
  qos_overrides./tf.publisher.durability
  qos_overrides./tf.publisher.history
  qos_overrides./tf.publisher.reliability
  qos_overrides./tf_static.publisher.depth
  qos_overrides./tf_static.publisher.history
  qos_overrides./tf_static.publisher.reliability
  robot_description
  start_type_description_service
  use_sim_time

After killing the node in terminal 1

(pixi_ros2_rolling) C:\dev>ros2 param list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.

(pixi_ros2_rolling) C:\dev>ros2 topic list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.
/parameter_events
/rosout

(pixi_ros2_rolling) C:\dev>ros2 service list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.

(pixi_ros2_rolling) C:\dev>ros2 node list
RTI Connext DDS Evaluation License issued to <email> For non-production use only.
Expires on 13-jun-2025
Please contact support@rti.com with any questions or comments.

@ahcorde I think this could be closed now