Make sure you
sudo tailscale set --operator=$USER -accept-dns=true --accept-routes=true
It’s important to disable automatic updates as you should initiate it according to your own availability. Otherwise, it will start updating the first time you get an internet connection. To prevent that, uninstall the “unattended-upgrades” package.
sudo apt remove unattended-upgrades
if you get a message like:
Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 2131 (uWaiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 2131 (unattended-upgr)
sudo killall unattended-upgr
It’s always a good idea to perform headless updates in a way that won’t break if you lose your wireless connction. for this I use tmux
sudo apt update
sudo apt install tmux
tmux
inside the tmux window:
update and upgrade
sudo apt update && sudo apt upgrade -y
exit
sudo reboot now
Install packages
curl -fsSL https://tailscale.com/install.sh | sh
sudo tailscale up
Install ros2. this follows the humble instructions
locale
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt upgrade
now for installing ros, we want the minimum required set. therefore we are going to install the base package and a couple packages on top as needed, rather than the full desktop
sudo apt install ros-humble-ros-base
# not sure which one of these I actually did, but pretty sure I did the cpp version.
#sudo apt install ros-humble-examples-rclpy-minimal-subscriber ros-humble-examples-rclpy-minimal-publisher
sudo apt install ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-publisher
source /opt/ros/humble/setup.bash
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update
sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rmw-fastrtps-cpp
ros2 run demo_nodes_cpp talker
sudo apt install ros-humble-demo-nodes-cpp
ros2 run demo_nodes_cpp talker
install ifconfig to find your ip address
sudo apt install net-tools
ifconfig
fastrtps
cat <<EOT >> ~/fast_local.xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>TailscaleTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="TailscaleSimple" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>TailscaleTransport</transport_id>
</userTransports>
<useBuiltinTransports>true</useBuiltinTransports>
<builtin>
<initialPeersList>
<!-- Repeat this part for each Tailscale peer, use Tailscale machine/host name (from the admin console) -->
<locator>
<udpv4>
<address><your-local-ip-address></address> <!-- or <address>Tailscale IPv4 address</address> -->
</udpv4>
</locator>
<!-- End repeat -->
<locator>
<udpv4>
<address><other-local-ip-address></address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
</rtps>
</participant>
</profiles>
EOT
sudo mv ~/fast_local.xml /etc/
cat <<EOT >> ~/fast_ts.xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>TailscaleTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="TailscaleSimple" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>TailscaleTransport</transport_id>
</userTransports>
<useBuiltinTransports>true</useBuiltinTransports>
<builtin>
<initialPeersList>
<!-- Repeat this part for each Tailscale peer, use Tailscale machine/host name (from the admin console) -->
<locator>
<udpv4>
<address><hostname1></address> <!-- or <address>Tailscale IPv4 address</address> -->
</udpv4>
</locator>
<!-- End repeat -->
<locator>
<udpv4>
<address><hostname2></address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
</rtps>
</participant>
</profiles>
EOT
sudo mv ~/fast_ts.xml /etc/
sudo cp /etc/cyclonedds_local.xml /etc/cyclonedds.xml
sudo cp /etc/fast_local.xml /etc/fast.xml
setup .bashrc
#export CYCLONEDDS_URI=/etc/cyclonedds.xml
#export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
FASTRTPS_DEFAULT_PROFILES_FILE=/etc/fast.xml
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc
echo "export ROS_LOCALHOST_ONLY=0" >> ~/.bashrc
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc
## close and reopen your terminal or
sudo reboot now
ros2 run demo_nodes_cpp listener
ros2 run demo_nodes_cpp talker
now try replacing the local ip addresses with tailscale ip addresses
sudo cp /etc/cyclonedds_ts.xml /etc/cyclonedds.xml
sudo reboot now
ros2 run demo_nodes_cpp listener
ros2 run demo_nodes_cpp listener
https://adityakamath.hashnode.dev/ros-2-and-vpns