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ROS 2 Jazzy

Jetson Xavier NX

ubuntu 24.04

Architecture#

Note

See DDS Configuration to learn more about Micipsa DDS configuration.

Network Architecture

Physical connectivity#

Link Medium Purpose
Jetson ↔ Router Ethernet Wired connection from the robot to the router
Router ↔ Host machine WiFi Wireless connection from the router to the operator's laptop
Router ↔ Internet WiFi (WAN) Dynamic IP address for the router's upstream connection only

The router assigns static IP addresses to both the Jetson and the base station, ensuring the address of each device is predictable across reboots. This predictability is what allows the CycloneDDS discovery configuration below to reference fixed peer addresses instead of relying on multicast discovery. It also makes testing in different locations and on different networks straightforward since the Jetson and host machine addresses are static on the router's own LAN, moving the setup to a new environment only requires connecting the router to that network, without reconfiguring peer addresses on either device.

IP addressing#

Device Interface Address
Jetson (robot) eth0 192.0.8.100
Host machine WiFi 192.0.8.50

ROS 2 middleware configuration#

Both the Jetson and the host machine run the same middleware configuration:

  • RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
  • ROS_DOMAIN_ID: 0

Discovery configuration#

Each container's CYCLONEDDS_URI points to a shared cyclonedds.xml. The configuration disables multicast discovery in favor of an explicit peer list:

<NetworkInterface name="eth0" multicast="false"/>
<AllowMulticast>false</AllowMulticast>
<Peers>
  <Peer address="127.0.0.1"/>
  <Peer address="192.168.8.50"/>
</Peers>
  • eth0 resolves to the Jetson's physical network interface because every service runs with network_mode: host.
  • 127.0.0.1 is included as a peer so that containers on the same Jetson, all sharing the host's loopback interface under host networking, can discover each other without depending on multicast.
  • 192.168.8.50 is the unicast peer used to reach the base station directly.