Automatically generate the DDS configuration for Husarnet.

Download the binary using curl or wget, which are available on most systems either preinstalled, or obtainable via package manager:

RELEASE="v1.3.6"
ARCH="amd64"

sudo curl -L https://github.com/husarnet/husarnet-dds/releases/download/$RELEASE/husarnet-dds-linux-$ARCH -o /usr/local/bin/husarnet-dds
sudo chmod +x /usr/local/bin/husarnet-dds

On Windows, you can download the binary via GUI from Releases page and place in directory of your liking. To do it right from PowerShell, use wget command which is an alias for Invoke-WebRequest cmdlet:

wget https://github.com/husarnet/husarnet-dds/releases/download/v1.3.4/husarnet-dds-windows-amd64.exe -OutFile husarnet-dds.exe

In order to be able to run the binary from any directory, place it in the directory present in your %PATH% environment variable.

go build -o husarnet-dds

warning

Target file name specified in FASTRTPS_DEFAULT_PROFILES_FILE or CYCLONEDDS_URI paths should contain 'husarnet' substring. Otherwise, the config will be saved under a default location.

On Linux/MacOS, using bash:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=./husarnet-fastdds-simple.xml
husarnet-dds singleshot

On Windows, using PowerShell

$env:RMW_IMPLEMENTATION = 'rmw_fastrtps_cpp'
$env:FASTRTPS_DEFAULT_PROFILES_FILE = '.\husarnet-fastdds-simple.xml'
.\husarnet-dds.exe singleshot

Let's assume that the Husarnet hostname of the device is my-server:

export DISCOVERY_SERVER_PORT=11811
husarnet-dds singleshot

Launching the discovery server:

fast-discovery-server -i 0 -x /var/tmp/husarnet-dds/fastdds-ds-server.xml

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=./husarnet-fastdds-ds-client.xml
export ROS_DISCOVERY_SERVER=my-server:11811
husarnet-dds singleshot

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file://./husarnet-cyclone.xml
husarnet-dds singleshot

You can run husarnet-dds in a service mode. It will start automatically after system reboot, and every 5 seconds it will update the hosts in DDS .xml profile files.

Unix-like systems, using bash:

export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/var/tmp/husarnet-dds/husarnet-fastdds.xml

sudo husarnet-dds install $USER \
-e RMW_IMPLEMENTATION=$RMW_IMPLEMENTATION \
-e FASTRTPS_DEFAULT_PROFILES_FILE=$FASTRTPS_DEFAULT_PROFILES_FILE

On Windows, using PowerShell as Administrator:

$env:RMW_IMPLEMENTATION = 'rmw_fastrtps_cpp'
$env:FASTRTPS_DEFAULT_PROFILES_FILE = 'C:\Users\husarnetman\Desktop\dds\husarnet-fastdds-simple.xml'

.\husarnet-dds.exe install LocalSystem -e RMW_IMPLEMENTATION=$env:RMW_IMPLEMENTATION `
-e FASTRTPS_DEFAULT_PROFILES_FILE=$env:FASTRTPS_DEFAULT_PROFILES_FILE

Be sure to provide absolute path to the file which will be watched, as in the example.

Available environment variables

sudo husarnet-dds start

Now you can check the status of the service on Linux and last logs like that:

sudo systemctl status husarnet-dds.service 

sudo journalctl --unit husarnet-dds.service -n 100 

On Windows, see services.msc

sudo husarnet-dds stop
sudo husarnet-dds uninstall

git tag v1.0.0 main
git push origin v1.0.0 main