Installing Husarnet on Linux:

You can refer the official Husarnet Linux installation Guide or follow instructions given below specific for Ubuntu 22

  • To install Husarnet, paste the following lines into your terminal:

    # update, upgrade and check if `curl` is installed
sudo apt update && sudo apt install -y curl

# install husarnet using curl
curl -s https://install.husarnet.com/install.sh | sudo bash

  • You can verify the installation by typing husarnet version in the terminal

  • Refer this to troubleshoot your problems - Troubleshooting Husarnet on Linux

Using Husarnet and ROS 2:

1. Configuration of DDS:

  • The default ROS Middleware Abstraction Interface (RMW) implementation for ROS 2 humble is Fast DDS

  • You can read more about RMW here -> ROS 2 - RMW

  • So, we need to configure DDS implementations on our systems on which ROS 2 is running.

  • First, install Husarnet-DDS on each device with which your team will be joining for practice slots from GitHub releases available for Linux: (You may refer this official guide -> Husarnet Tutorial ROS 2)

    RELEASE="v1.3.5"
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

2. Select DDS Implementation:

  • Next, choose the DDS implementation that you want to use with your ROS 2 application. Here, it is Fast DDS and is supported by Husarnet-DDS.

  • Set up the required environment variables based on the above chosen DDS implementation on each device.

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

  • NOTE: If you want each terminal to connect to husarnet network, then add it in your bashrc similarly as we did for ros 2 setup source file and then source bashrc file.

    echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc
echo "export FASTRTPS_DEFAULT_PROFILES_FILE=/var/tmp/husarnet-fastdds-simple.xml" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=2" >> ~/.bashrc
. ~/.bashrc     # soruce bashrc file

3. Join husarnet group:

  • Use this command to join a husarnet group:

    husarnet join <your-join-code> <device-hostname>

  • Set your <device_hostname> as your team id when you join. Ex: cl_1967

  • Each team will be be given the joining code in your particular slot after you join.

Troubleshooting

  • After successfull installation of husarnet and joining the husarnet group, even if you are not able to listen topics via ros2 topic list then try restarting ros daemon: 
    ros2 daemon stop
ros2 daemon start