ROS Communication Issues#

If it looks like you are dropping messages or you are not receiving any messages, you might be at the right place here.

DDS Tuning#

In case you encounter issues with reliability of ROS 2 message delivery, you could try to increase the maximum receive buffer size:

sudo sysctl -w net.core.rmem_max=2147483647

For more information please consult the DDS tuning information of ROS 2.

RTPS Profile#

The RTPS profile of the Isaac ROS environment is provided by the Isaac ROS CLI here:

cat /etc/isaac-ros-cli/docker/middleware_profiles/rtps_udp_profile.xml

If you encounter communication issues when launching many ROS 2 nodes simultaneously you might want to increase the maxInitialPeersRange parameter like shown below:

<license>NVIDIA Isaac ROS Software License</license>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>UdpTransport</transport_id>
            <type>UDPv4</type>
            <maxInitialPeersRange>100</maxInitialPeersRange>
        </transport_descriptor>
    </transport_descriptors>

...

After saving the modification, make sure to restart your Isaac ROS environment.

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