Add Tailscale Network Support and Audio Capture Task #5
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…ast and use unicast for DDS communications
Hoog-V
requested changes
Apr 23, 2025
Perhaps you are right, let's not make very specific adaptation part of the library |
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This PR adds support for running ROS2 audio tools over Tailscale VPN by configuring CycloneDDS to properly use unicast communication. It also adds convenient Pixi tasks for running the audio capture node over Tailscale.
Changes
Added cyclonedds.xml to configure DDS for unicast communication over Tailscale
Created setup_ros_tailscale.sh script that sets up the proper environment variables
Added new Pixi task run_audio_capture_tailscale to easily run the audio capture node
Disabled multicast in CycloneDDS configuration to ensure proper unicast operation
Why these changes are needed
Tailscale uses a private network that doesn't support multicast, which is the default discovery mechanism for ROS2. These changes allow ROS2 nodes to properly discover each other and communicate over Tailscale by:
Forcing CycloneDDS to use unicast instead of multicast
Specifying the correct network interface for communication
Setting up all necessary environment variables automatically
Testing
Tested with multiple ROS2 nodes across different machines connected via Tailscale. Verified topic communication using ros2 topic echo and ros2 topic hz commands.