From 381d186b66945fbd9842ae087983e5bdf6dcf17f Mon Sep 17 00:00:00 2001 From: Orange <2314753575@qq.com> Date: Thu, 23 Jul 2026 15:43:42 +0800 Subject: [PATCH] docs: add Fast DDS 164 implementation plan --- .../2026-07-23-fastdds-164-network-change.md | 577 ++++++++++++++++++ 1 file changed, 577 insertions(+) diff --git a/docs/crucial_change/2026-07-23-fastdds-164-network-change.md b/docs/crucial_change/2026-07-23-fastdds-164-network-change.md index 88390cf..408f81f 100644 --- a/docs/crucial_change/2026-07-23-fastdds-164-network-change.md +++ b/docs/crucial_change/2026-07-23-fastdds-164-network-change.md @@ -174,3 +174,580 @@ source /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh - `.210` 上的 SSH 和 VS Code 管理链路保持可用。 - 未修改路由表、系统启动文件、现有 ROS package 或 Nav2 参数。 - 所有实际修改、验证和回滚方式均记录在本文件中。 + +# Fast DDS `.164` 专用链路实施计划 + +> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking. + +**Goal:** 让从专用环境启动的 WSL 与 RDKx5 ROS 2 participant 只通过 `.151 <-> .164` 交换跨主机 DDS 数据，同时保持 `.210` 的管理链路不变。 + +**Architecture:** 双端保持 `rmw_fastrtps_cpp` 和 Domain 22，分别加载一个 Fast DDS 默认 participant profile。profile 保留 SHM 供同主机通信，并用带接口白名单的自定义 UDPv4 transport 约束跨主机通信；sourceable Bash 脚本负责前置检查和环境变量设置。 + +**Tech Stack:** ROS 2 Humble、Fast DDS 2.6.x、Bash、Fast DDS XML profiles、`tcpdump`、Git。 + +--- + +## 文件职责 + +- `/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml`：RDKx5 participant transport，只允许 UDPv4 使用 `.164`，peer 为 WSL `.151`。 +- `/home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh`：验证 RDKx5 网卡和 XML 后，导出 Domain、RMW 和 profile 环境变量。 +- `/home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml`：WSL participant transport，只允许 UDPv4 使用 `.151`，peer 为 RDKx5 `.164`。 +- `/home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh`：验证 WSL 网卡和 XML 后，导出 Domain、RMW 和 profile 环境变量。 +- `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md`：设计、计划、实际变更、证据、提交号和回滚命令的唯一记录。 + +### Task 1：实施前保护与基线 + +**Files:** + +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：确认目标文件不会被覆盖** + +在 RDKx5 执行： + +```bash +for path in \ + /home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml \ + /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh; do + if [ -e "$path" ]; then + echo "STOP: existing file: $path" >&2 + exit 1 + fi +done +``` + +在 WSL 执行： + +```bash +for path in \ + /home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml \ + /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh; do + if [ -e "$path" ]; then + echo "STOP: existing file: $path" >&2 + exit 1 + fi +done +``` + +Expected：两段命令均无输出且返回 `0`。任何文件已存在都停止实施，先将其路径、SHA-256 和内容写入本文件，不能覆盖。 + +- [ ] **Step 2：采集最小基线** + +RDKx5： + +```bash +ip -br -4 addr +ip -4 route +source /opt/ros/humble/setup.bash +python3 -c 'from rclpy.utilities import get_rmw_implementation_identifier; print(get_rmw_implementation_identifier())' +grep -n 'ROS_DOMAIN_ID' /home/sunrise/.bashrc +git -C /home/sunrise/yiliao_ws status --short +``` + +WSL： + +```bash +ip -br -4 addr +ip -4 route get 192.168.10.164 +source /opt/ros/humble/setup.bash +python3 -c 'from rclpy.utilities import get_rmw_implementation_identifier; print(get_rmw_implementation_identifier())' +git -C /home/hikos/Yiliao2026 status --short +``` + +Expected：RDKx5 存在 `.164` 和 `.210`，WSL 存在 `.151`，双方 RMW 均为 `rmw_fastrtps_cpp`。记录现有 dirty files，后续提交不得包含它们。 + +- [ ] **Step 3：把基线摘要追加到唯一变更文档** + +用 `apply_patch` 在本文件末尾增加 `## 实施记录` 和 `### 实施前基线`，写入上述命令的关键输出、实施开始时间以及“目标文件原先不存在”。不要粘贴无关的大段 package 列表。 + +- [ ] **Step 4：提交基线记录** + +```bash +cd /home/sunrise/yiliao_ws +git add -- docs/crucial_change/2026-07-23-fastdds-164-network-change.md +git diff --cached --check +git diff --cached --name-only +git commit -m "docs: record Fast DDS network baseline" -- \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +``` + +Expected：待提交文件列表只有该 Markdown 文档。 + +### Task 2：RDKx5 Fast DDS 配置 + +**Files:** + +- Create: `/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml` +- Create: `/home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh` +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：运行存在性测试并确认失败** + +```bash +test -f /home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml && \ +test -f /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +``` + +Expected：返回非零，因为两个文件尚未创建。 + +- [ ] **Step 2：创建 RDKx5 XML** + +创建目录 `/home/sunrise/yiliao_ws/config/dds`： + +```bash +mkdir -p /home/sunrise/yiliao_ws/config/dds +``` + +然后用 `apply_patch` 创建 `fastdds_rdk_164.xml`，完整内容为： + +```xml + + + + + rdk_udp_164 + UDPv4 + +
192.168.10.164
+ + + + rdk_shm + SHM + + + + + + + + + +
192.168.10.151
+ + + + + + rdk_udp_164 + rdk_shm + + false + + + +``` + +- [ ] **Step 3：创建 RDKx5 环境脚本** + +用 `apply_patch` 创建 `use_rdk_dds_164.sh`，完整内容为： + +```bash +#!/usr/bin/env bash + +if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then + echo "ERROR: source this file instead of executing it" >&2 + exit 64 +fi + +_rdk_dds_profile="/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml" + +if ! ip -4 addr show dev wlx200db0c3fca5 2>/dev/null | grep -q 'inet 192\.168\.10\.164/'; then + echo "ERROR: wlx200db0c3fca5 does not own 192.168.10.164" >&2 + unset _rdk_dds_profile + return 1 +fi + +if [[ ! -r "${_rdk_dds_profile}" ]]; then + echo "ERROR: unreadable Fast DDS profile: ${_rdk_dds_profile}" >&2 + unset _rdk_dds_profile + return 1 +fi + +export ROS_DOMAIN_ID=22 +export RMW_IMPLEMENTATION=rmw_fastrtps_cpp +export ROS_LOCALHOST_ONLY=0 +export FASTRTPS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}" +export FASTDDS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}" + +printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.164 profile=%s\n' \ + "${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_rdk_dds_profile}" +unset _rdk_dds_profile +``` + +设置权限： + +```bash +chmod 0644 /home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml +chmod 0755 /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +``` + +- [ ] **Step 4：验证语法和 Fast DDS 实际加载** + +```bash +bash -n /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +python3 -c "import xml.etree.ElementTree as ET; ET.parse('/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml'); print('XML well-formed')" +source /opt/ros/humble/setup.bash +source /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +python3 -c "import rclpy; rclpy.init(); n=rclpy.create_node('rdk_dds_profile_check'); print('RMW participant created'); n.destroy_node(); rclpy.shutdown()" +``` + +Expected：依次输出 `XML well-formed`、环境摘要和 `RMW participant created`，stderr 中没有 XML profile 或 transport 错误。 + +- [ ] **Step 5：记录 RDKx5 文件内容与校验值** + +```bash +sha256sum \ + /home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml \ + /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +``` + +用 `apply_patch` 在本文件的实施记录中加入两个文件的完整内容、权限、SHA-256 和 Step 4 的结果。 + +- [ ] **Step 6：只提交 RDKx5 配置和文档** + +```bash +cd /home/sunrise/yiliao_ws +git add -- \ + config/dds/fastdds_rdk_164.xml \ + config/dds/use_rdk_dds_164.sh \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +git diff --cached --check +git diff --cached --name-only +git commit -m "feat: add dedicated Fast DDS 164 profile" -- \ + config/dds/fastdds_rdk_164.xml \ + config/dds/use_rdk_dds_164.sh \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +``` + +Expected：提交只包含上述三个路径。 + +### Task 3：WSL Fast DDS 配置 + +**Files:** + +- Create: `/home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml` +- Create: `/home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh` +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：运行存在性测试并确认失败** + +```bash +test -f /home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml && \ +test -f /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +``` + +Expected：返回非零，因为两个文件尚未创建。 + +- [ ] **Step 2：创建 WSL XML** + +创建目录 `/home/hikos/Yiliao2026/config/dds`： + +```bash +mkdir -p /home/hikos/Yiliao2026/config/dds +``` + +然后用 `apply_patch` 创建 `fastdds_wsl_151.xml`，完整内容为： + +```xml + + + + + wsl_udp_151 + UDPv4 + +
192.168.10.151
+ + + + wsl_shm + SHM + + + + + + + + + +
192.168.10.164
+ + + + + + wsl_udp_151 + wsl_shm + + false + + + +``` + +- [ ] **Step 3：创建 WSL 环境脚本** + +用 `apply_patch` 创建 `use_wsl_dds_164_link.sh`，完整内容为： + +```bash +#!/usr/bin/env bash + +if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then + echo "ERROR: source this file instead of executing it" >&2 + exit 64 +fi + +_wsl_dds_profile="/home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml" + +if ! ip -4 addr show dev eth4 2>/dev/null | grep -q 'inet 192\.168\.10\.151/'; then + echo "ERROR: eth4 does not own 192.168.10.151" >&2 + unset _wsl_dds_profile + return 1 +fi + +if [[ ! -r "${_wsl_dds_profile}" ]]; then + echo "ERROR: unreadable Fast DDS profile: ${_wsl_dds_profile}" >&2 + unset _wsl_dds_profile + return 1 +fi + +export ROS_DOMAIN_ID=22 +export RMW_IMPLEMENTATION=rmw_fastrtps_cpp +export ROS_LOCALHOST_ONLY=0 +export FASTRTPS_DEFAULT_PROFILES_FILE="${_wsl_dds_profile}" +export FASTDDS_DEFAULT_PROFILES_FILE="${_wsl_dds_profile}" + +printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.151 peer=192.168.10.164 profile=%s\n' \ + "${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_wsl_dds_profile}" +unset _wsl_dds_profile +``` + +设置权限： + +```bash +chmod 0644 /home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml +chmod 0755 /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +``` + +- [ ] **Step 4：验证语法和 Fast DDS 实际加载** + +```bash +bash -n /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +python3 -c "import xml.etree.ElementTree as ET; ET.parse('/home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml'); print('XML well-formed')" +source /opt/ros/humble/setup.bash +source /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +python3 -c "import rclpy; rclpy.init(); n=rclpy.create_node('wsl_dds_profile_check'); print('RMW participant created'); n.destroy_node(); rclpy.shutdown()" +``` + +Expected：依次输出 `XML well-formed`、环境摘要和 `RMW participant created`，stderr 中没有 XML profile 或 transport 错误。 + +- [ ] **Step 5：记录 WSL 文件并提交** + +```bash +sha256sum \ + /home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml \ + /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +cd /home/hikos/Yiliao2026 +git add -- \ + config/dds/fastdds_wsl_151.xml \ + config/dds/use_wsl_dds_164_link.sh +git diff --cached --check +git diff --cached --name-only +git commit -m "feat: bind WSL Fast DDS to 192.168.10.151" -- \ + config/dds/fastdds_wsl_151.xml \ + config/dds/use_wsl_dds_164_link.sh +git rev-parse HEAD +``` + +Expected：提交只包含两个 WSL 配置文件。用 `apply_patch` 把文件完整内容、权限、SHA-256、加载验证结果和 WSL commit 写入 RDKx5 的唯一变更文档，然后单独提交该文档： + +```bash +cd /home/sunrise/yiliao_ws +git add -- docs/crucial_change/2026-07-23-fastdds-164-network-change.md +git diff --cached --check +git diff --cached --name-only +git commit -m "docs: record WSL Fast DDS deployment" -- \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +``` + +Expected：RDKx5 本次提交只包含该 Markdown 文档。 + +### Task 4：双向通信与网卡检查 + +**Files:** + +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：清理 ROS 2 daemon 并加载双方环境** + +RDKx5： + +```bash +source /opt/ros/humble/setup.bash +source /home/sunrise/yiliao_ws/install/setup.bash +source /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +ros2 daemon stop || true +``` + +WSL： + +```bash +source /opt/ros/humble/setup.bash +source /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +ros2 daemon stop || true +``` + +Expected：两个终端显示 Domain 22、Fast DDS 和各自本地专用地址。 + +- [ ] **Step 2：验证 WSL 到 RDKx5** + +先在 RDKx5 运行： + +```bash +timeout 20 ros2 topic echo /dds_164_smoke_20260723 std_msgs/msg/String --once +``` + +随后在 WSL 运行： + +```bash +ros2 topic pub --once /dds_164_smoke_20260723 std_msgs/msg/String "{data: wsl_to_rdk}" +``` + +Expected：RDKx5 输出 `data: wsl_to_rdk`。 + +- [ ] **Step 3：验证 RDKx5 到 WSL** + +先在 WSL 运行： + +```bash +timeout 20 ros2 topic echo /dds_164_smoke_return_20260723 std_msgs/msg/String --once +``` + +随后在 RDKx5 运行： + +```bash +ros2 topic pub --once /dds_164_smoke_return_20260723 std_msgs/msg/String "{data: rdk_to_wsl}" +``` + +Expected：WSL 输出 `data: rdk_to_wsl`。 + +- [ ] **Step 4：确认 DDS 使用 `.164` 而非 `.210`** + +在 RDKx5 两个终端同时开始短抓包： + +```bash +sudo timeout 15 tcpdump -ni wlx200db0c3fca5 -c 5 'udp and host 192.168.10.151' +``` + +```bash +sudo timeout 15 tcpdump -ni wlan0 -c 1 'udp and host 192.168.10.151' +``` + +抓包期间重复 Step 2 的一次发布。Expected：`wlx200db0c3fca5` 捕获到 UDP；`wlan0` 超时且捕获 `0 packets`。当前 SSH 命令仍能返回： + +```bash +ssh sunrise@192.168.10.210 'echo management-link-ok' +``` + +- [ ] **Step 5：记录并提交精简验证结果** + +用 `apply_patch` 写入双向消息结果、两张网卡的抓包摘要和 `management-link-ok`。如果任一步失败，停止到 Task 6 的快速回滚，不启动 Nav2。 + +```bash +cd /home/sunrise/yiliao_ws +git add -- docs/crucial_change/2026-07-23-fastdds-164-network-change.md +git diff --cached --check +git commit -m "docs: record dedicated DDS link verification" -- \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +``` + +### Task 5：实际 `obstacle_nav2` 最小验证 + +**Files:** + +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：安全启动 Nav2** + +在已加载 RDKx5 专用 DDS 环境的终端运行： + +```bash +ros2 launch obstacle_nav2 obstacle_nav2.launch.py enable_motion:=false +``` + +Expected：launch 启动，真实底盘速度输出仍映射到 `/cmd_vel_disabled`。 + +- [ ] **Step 2：WSL 检查关键话题** + +在已加载 WSL 专用 DDS 环境的终端运行： + +```bash +ros2 topic list | grep -E '^/obstacles$|^/local_costmap/costmap$|^/global_costmap/costmap$' +``` + +Expected：至少出现 `/obstacles`，并出现 local/global costmap 话题；如果当前 Nav2 使用 `costmap_raw` 命名，则记录实际名称，不修改 Nav2 参数。 + +- [ ] **Step 3：结束测试并记录结果** + +使用 `Ctrl+C` 正常停止本次 launch。用 `apply_patch` 记录启动命令、关键话题、停止方式和最终结论；不执行运动目标、不修改 costmap 参数。 + +- [ ] **Step 4：提交最终记录** + +```bash +cd /home/sunrise/yiliao_ws +git add -- docs/crucial_change/2026-07-23-fastdds-164-network-change.md +git diff --cached --check +git commit -m "docs: finalize Fast DDS 164 deployment record" -- \ + docs/crucial_change/2026-07-23-fastdds-164-network-change.md +``` + +### Task 6：回滚演练说明与最终核对 + +**Files:** + +- Modify: `/home/sunrise/yiliao_ws/docs/crucial_change/2026-07-23-fastdds-164-network-change.md` + +- [ ] **Step 1：写明快速回滚命令** + +停止由专用环境启动的 ROS 节点后，在当前终端执行： + +```bash +unset FASTRTPS_DEFAULT_PROFILES_FILE +unset FASTDDS_DEFAULT_PROFILES_FILE +unset RMW_IMPLEMENTATION +unset ROS_LOCALHOST_ONLY +export ROS_DOMAIN_ID=22 +``` + +推荐的实际快速回滚方式是关闭该终端并新开终端，避免残留环境变量。将上述命令原样保存在实施记录中。 + +- [ ] **Step 2：写明文件级回滚命令，但成功时不执行** + +只有用户要求撤销或部署失败时才执行。执行前分别确认四个绝对路径仍位于批准目录，然后删除具体文件，不递归删除工作空间： + +```bash +rm -- \ + /home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml \ + /home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh +rmdir --ignore-fail-on-non-empty /home/sunrise/yiliao_ws/config/dds +``` + +```bash +rm -- \ + /home/hikos/Yiliao2026/config/dds/fastdds_wsl_151.xml \ + /home/hikos/Yiliao2026/config/dds/use_wsl_dds_164_link.sh +rmdir --ignore-fail-on-non-empty /home/hikos/Yiliao2026/config/dds +``` + +- [ ] **Step 3：最终范围核对** + +```bash +git -C /home/sunrise/yiliao_ws status --short +git -C /home/sunrise/yiliao_ws log -5 --oneline +git -C /home/hikos/Yiliao2026 status --short +git -C /home/hikos/Yiliao2026 log -3 --oneline +``` + +Expected：新提交只涉及四个 DDS 配置文件和本 Markdown；原有 dirty files 仍保持原状态，未被暂存、修改或清理。