ROS_DOMAIN_ID
The default middleware that ROS 2 uses for communication is DDS. In DDS, the primary mechanism for having different logical networks share a physical network is known as the Domain ID. ROS 2 nodes on the same domain can freely discover and send messages to each other, while ROS 2 nodes on different domains cannot. All ROS 2 nodes use domain ID 0 by default.
- Make sure both machines have the same ROS_DOMAIN_ID
echo $ROS_DOMAIN_ID0
Run ROS2 on 2 machines
- Run the talker node from demo_nodes_cpp on Machine 1 (e.g. Laptop on WSL2)
ros2 run demo_nodes_cpp talker[INFO] [1735955684.018815006] [talker]: Publishing: 'Hello World: 1'
[INFO] [1735955685.018882451] [talker]: Publishing: 'Hello World: 2'
[INFO] [1735955686.018849702] [talker]: Publishing: 'Hello World: 3'
[INFO] [1735955687.018847096] [talker]: Publishing: 'Hello World: 4'
- Run listener node on Machine 2 (e.g. Raspberry Pi)
# Open new terminal
ros2 run demo_nodes_cpp listener