├── .gitignore ├── LICENSE ├── README.md ├── docker-compose.yml ├── docker-mac-network ├── Dockerfile ├── LICENSE ├── README.md ├── config │ └── .placeholder ├── docker-compose.yml └── helpers │ └── run.sh ├── images ├── daemon-start-stop.png ├── docker-listener1-rec.png ├── docker-listener1.png ├── docker-listener2-rec.png ├── docker-listener2.png ├── node-info.png ├── node-list.png ├── osx-talker.png ├── ping.png ├── topic-list.png ├── tunnelblick-connect.png ├── tunnelblick-connected.png └── tunnelblick-uploadconfig.png ├── ros2_profiles ├── discovery_server_configuration_file.xml └── super_client_configuration_file.xml ├── start.sh └── stop.sh /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | # Binaries for programs and plugins 3 | *.exe 4 | *.exe~ 5 | *.dll 6 | *.so 7 | *.dylib 8 | 9 | # Test binary, built with `go test -c` 10 | *.test 11 | 12 | # Output of the go coverage tool, specifically when used with LiteIDE 13 | *.out 14 | 15 | # Dependency directories (remove the comment below to include it) 16 | # vendor/ 17 | 18 | !docker-mac-network/config 19 | 20 | docker-mac-network/config/* 21 | docker-mac-network/config/pki/* -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Ros2 Docker Mac Network 2 | 3 | The objective of this small project is to provide a guideline to create a ros2 network that connects your Mac(osx) with your docker containers. The Mac docker desktop distribution has its own peculiarities and is different to the linux distribution as it doesn't allow to share the network between the host and the docker containers. 4 | 5 | In order to create a ros2 network we need the following: 6 | 7 | - Install docker-mac-network from [wojas/docker-mac-network](https://github.com/wojas/docker-mac-network) or the [/docker-mac-network](docker-mac-network) folder from this repo. This will allow us to create a docker network called "docker-mac-network" with openvpn and the relevant ovpn configuration that can be used with [Tunnelblick](https://tunnelblick.net/downloads.html) to connect your mac to your docker containers that use the "docker-mac-network" 8 | - Use of [Fast-dds discovery server](https://fast-dds.docs.eprosima.com/en/latest/fastdds/ros2/discovery_server/ros2_discovery_server.html). For that we will need the following environment setup: 9 | - export RMW_IMPLEMENTATION=rmw_fastrtps_cpp 10 | - export ROS_DISCOVERY_SERVER="172.25.0.3:11811" 11 | - Use of fast-dds super-client to enable the daemon to perform all the cli operations and allow it to discover all the nodes within the ros2 network. For that we will need the following environment setup: 12 | - - export FASTRTPS_DEFAULT_PROFILES_FILE=/ros2_profiles/super_client_configuration_file.xml 13 | ```bash 14 | It has been tested with ros2 "galactic" 15 | ``` 16 | ## Guide To Create the Network and discovery server 17 | 18 | #### First time: 19 | - Run the [start.sh](start.sh). This will do the following. 20 | - Create docker network called docker-mac-network_default with subnet 172.25.0.0/16. This will allow us to set a static IP 172.25.0.3 to the fast-dds discovery server 21 | - Create the openVPN configuration in case that it doesn't exist. It will also comment "#comp-lzo no" line of the openvpn.conf as the ros2-galactic docker images don´t use comp-lzo. By doing this patching the OSX host will be able to ping the docker images 22 | - Create the fast-dds discovery server with ip 172.25.0.3 23 | - stop and start the ros2 daemon 24 | - Double click on docker-for-mac.ovpn to load the configuration in Tunnelblick. 25 | tunnelblick upload config 26 | 27 | - Connect to the docker-for-mac network 28 | 29 | tunnelblick connect tunnelblick connected 30 | 31 | - At this point you should be able to ping the discovery server 32 | ```bash 33 | ping 172.25.0.3 34 | ``` 35 | ping fast-dds discovery server 36 | 37 | #### Subsequent times: 38 | 39 | - Run the [start.sh](start.sh) 40 | - Connect to the docker-for-mac network 41 | - At this point you should be able to ping the discovery server 42 | ```bash 43 | ping 172.25.0.3 44 | ``` 45 | 46 | ## Ros talker-listener demo running on extended network (docker-mac) 47 | 48 | - Spin up two docker containers in different terminals with ros-galactic-desktop distribution - it can be any distribution (core,base, desktop). In the example I´m using one custom distribution with golang installed. 49 | ```bash 50 | docker run -ti --net docker-mac-network_default -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp -e ROS_DISCOVERY_SERVER="172.25.0.3:11811" galactic-ros-desktop-go:1.16.2 -- bash 51 | ``` 52 | - Run the listener in each docker container 53 | ```bash 54 | ros2 run demo_nodes_cpp listener --ros-args --remap __node:=listener1 55 | ``` 56 | docker-listener1 57 | 58 | and 59 | ```bash 60 | ros2 run demo_nodes_cpp listener --ros-args --remap __node:=listener2 61 | ``` 62 | docker-listener2 63 | 64 | - Run the talker in osx terminal 65 | ```bash 66 | ros2 run demo_nodes_cpp talker --ros-args --remap __node:=talker1 67 | ``` 68 | osx talker 69 | 70 | docker listener1 receiving 71 | 72 | docker listener2 receiving 73 | 74 | ## daemon operations on extended network (docker-mac) 75 | - List nodes 76 | ```bash 77 | ros2 node list 78 | ``` 79 | node list 80 | 81 | - List topics 82 | ```bash 83 | ros2 topic list 84 | ``` 85 | topic list 86 | 87 | - Get Node info 88 | ```bash 89 | ros2 node info /talker1 90 | ``` 91 | node info 92 | ## know issues 93 | 94 | It may happen that the daemon doesn't display the information. This might be caused because when we started the terminal the openVPN wasn't connected (usually the first time). In order to solve the issue, stop and start the daemon and back to normal 95 | 96 | ```bash 97 | ros2 daemon stop 98 | ``` 99 | ```bash 100 | ros2 daemon start 101 | ``` 102 | 103 | daemon start stop -------------------------------------------------------------------------------- /docker-compose.yml: -------------------------------------------------------------------------------- 1 | version: '3' 2 | 3 | services: 4 | ros2-fast-dds-discovery-server: 5 | image: galactic-ros-desktop-go:1.16.2 6 | environment: 7 | RMW_IMPLEMENTATION: rmw_fastrtps_cpp 8 | command: fastdds discovery -i 0 -l 172.25.0.3 -p 11811 9 | restart: always 10 | networks: 11 | docker-mac-network_default: 12 | ipv4_address: 172.25.0.3 13 | networks: 14 | docker-mac-network_default: 15 | external: true -------------------------------------------------------------------------------- /docker-mac-network/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM alpine 2 | RUN apk add --no-cache socat 3 | ENTRYPOINT ["socat"] 4 | -------------------------------------------------------------------------------- /docker-mac-network/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2016 Konrad Wojas 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /docker-mac-network/README.md: -------------------------------------------------------------------------------- 1 | This solution allows you to access your [Docker for Mac](https://docs.docker.com/engine/installation/mac/)'s internal networks directly from your macOS host machine, using OpenVPN. 2 | 3 | 4 | ## Quickstart 5 | 6 | To access your Docker networks: 7 | 8 | * Install [Tunnelblick](https://tunnelblick.net/downloads.html) (open source macOS OpenVPN client that sits in your menubar) 9 | * Run `docker-compose up`. The first time it will take up to a minute to startup, because it needs to generate keys. 10 | * Doubleclick the generated `docker-for-mac.ovpn` in Finder (or run `open docker-for-mac.ovpn` in your terminal) to add it to Tunnelblick. You will find it in the current folder. 11 | * In Tunnelblick, connect to your new docker-for-mac profile. 12 | 13 | You will now be able to access the internal Docker networks from macOS. 14 | 15 | 16 | ## Implementation notes 17 | 18 | The Compose configuration consists of two services, both based on the tiny Alpine Linux distribution. 19 | 20 | 21 | ### openvpn 22 | 23 | The OpenVPN image used is [kylemanna/openvpn](https://hub.docker.com/r/kylemanna/openvpn/). 24 | 25 | Both server-side and client-side configuration are automatically generated by `helpers/run.sh`, which calls the helper scripts in original image and adjust configuration for accessing the Docker for Mac networks only. 26 | 27 | This service runs on TCP port 1194 using *host* networking, which means it has access to all Docker networks in the host VM. 28 | 29 | Only the `172.16.0.0/20` private network is routed to Docker for Mac by the generated config. No DNS servers are set on the host. 30 | 31 | The OpenVPN configuration (`/etc/openvpn/*`) is stored locally in `./config/` so that it survives Docker filesystem resets and allows for easy customization. 32 | 33 | ### proxy 34 | 35 | Since containers running in host networking mode in Docker for Mac cannot bind ports to make them accessible from macOS, we need an extra TCP proxy. This image uses socat to forward port 13194 to the OpenVPN container. 36 | 37 | ## Tips 38 | 39 | * Add `restart: always` to both services in `docker-compose.yml` to have them automaticaly restart. 40 | * To route extra subnets, add extra `route` statements in your `docker-for-mac.ovpn` 41 | * To setup static IP addresses for containers, check the `app_net` examples in the [Compose file reference](https://docs.docker.com/compose/compose-file/) 42 | * To regenerate all files, remove `config/*` and `docker-for-mac.ovpn` 43 | -------------------------------------------------------------------------------- /docker-mac-network/config/.placeholder: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/docker-mac-network/config/.placeholder -------------------------------------------------------------------------------- /docker-mac-network/docker-compose.yml: -------------------------------------------------------------------------------- 1 | version: '2' 2 | 3 | services: 4 | 5 | proxy: 6 | build: . 7 | ports: 8 | - "127.0.0.1:13194:13194" 9 | #- "127.0.0.1:13194:13194/udp" 10 | # UDP did not work, probably because the source port changes all the time 11 | #command: -v UDP4-RECVFROM:13194,fork UDP4-SENDTO:172.17.0.1:1194 12 | command: TCP-LISTEN:13194,fork TCP:172.17.0.1:1194 13 | restart: always 14 | 15 | openvpn: 16 | image: kylemanna/openvpn 17 | volumes: 18 | - .:/local 19 | - ./config:/etc/openvpn 20 | network_mode: host 21 | cap_add: 22 | - NET_ADMIN 23 | environment: 24 | dest: docker-for-mac.ovpn 25 | DEBUG: '1' 26 | command: /local/helpers/run.sh 27 | restart: always 28 | 29 | -------------------------------------------------------------------------------- /docker-mac-network/helpers/run.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | dest=${dest:-docker.ovpn} 4 | 5 | if [ ! -f "/local/$dest" ]; then 6 | echo "*** REGENERATING ALL CONFIGS ***" 7 | set -ex 8 | #rm -rf /etc/openvpn/* 9 | ovpn_genconfig -u tcp://localhost 10 | sed -i 's|^push|#push|' /etc/openvpn/openvpn.conf 11 | echo localhost | ovpn_initpki nopass 12 | easyrsa build-client-full host nopass 13 | ovpn_getclient host | sed ' 14 | s|localhost 1194|localhost 13194|; 15 | s|redirect-gateway.*|route 172.16.0.0 255.240.0.0|; 16 | ' > "/local/$dest" 17 | fi 18 | 19 | # Workaround for https://github.com/wojas/docker-mac-network/issues/6 20 | /sbin/iptables -I FORWARD 1 -i tun+ -j ACCEPT 21 | 22 | exec ovpn_run 23 | -------------------------------------------------------------------------------- /images/daemon-start-stop.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/daemon-start-stop.png -------------------------------------------------------------------------------- /images/docker-listener1-rec.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/docker-listener1-rec.png -------------------------------------------------------------------------------- /images/docker-listener1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/docker-listener1.png -------------------------------------------------------------------------------- /images/docker-listener2-rec.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/docker-listener2-rec.png -------------------------------------------------------------------------------- /images/docker-listener2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/docker-listener2.png -------------------------------------------------------------------------------- /images/node-info.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/node-info.png -------------------------------------------------------------------------------- /images/node-list.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/node-list.png -------------------------------------------------------------------------------- /images/osx-talker.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/osx-talker.png -------------------------------------------------------------------------------- /images/ping.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/ping.png -------------------------------------------------------------------------------- /images/topic-list.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/topic-list.png -------------------------------------------------------------------------------- /images/tunnelblick-connect.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/tunnelblick-connect.png -------------------------------------------------------------------------------- /images/tunnelblick-connected.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/tunnelblick-connected.png -------------------------------------------------------------------------------- /images/tunnelblick-uploadconfig.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dcedyga/ros2docker-mac-network/cf338de0f5ef823cb6025b98bb96f3997616813e/images/tunnelblick-uploadconfig.png -------------------------------------------------------------------------------- /ros2_profiles/discovery_server_configuration_file.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 44.49.53.43.53.45.52.56.45.52.5f.30 7 | 8 | 9 | SERVER 10 | 11 | 12 | 13 | 14 |
172.25.0.3
15 | 11811 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /ros2_profiles/super_client_configuration_file.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | SUPER_CLIENT 9 | 10 | 11 | 12 | 13 | 14 |
172.25.0.3
15 | 11811 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /start.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | scriptDir=`dirname "$0"` 4 | scriptBasename=`basename "$0"` 5 | echo "The script you are running has basename $scriptBasename, dirname $scriptDir" 6 | echo "The present working directory is `pwd`" 7 | 8 | # openVPN and docker-mac-network 9 | docker network create --subnet=172.25.0.0/16 docker-mac-network_default 10 | docker-compose -f $scriptDir/docker-mac-network/docker-compose.yml up -d 11 | # openVPN comment comp-lzo fix 12 | FILE=$scriptDir/docker-mac-network/config/openvpn.conf 13 | echo $FILE 14 | if [ -f "$FILE" ]; then 15 | echo "$FILE exists" 16 | # check if comp-lzo is commented 17 | grep "#comp-lzo no" $FILE 18 | out=$(echo $?) 19 | echo "out:$out" 20 | if [ $out = 1 ]; then 21 | # config not being refreshed we need to fix it 22 | sed 's/^comp-lzo no/#comp-lzo no/' $FILE > $FILE.bak 23 | mv $FILE.bak $FILE 24 | #restart docker-compose 25 | docker-compose -f $scriptDir/docker-mac-network/docker-compose.yml down 26 | docker-compose -f $scriptDir/docker-mac-network/docker-compose.yml up -d 27 | fi 28 | fi 29 | # start ros galactic fast-dds discovery server 30 | docker-compose -f $scriptDir/docker-compose.yml up -d 31 | echo $(docker inspect -f '{{range.NetworkSettings.Networks}}{{.IPAddress}}{{end}}' ros2docker-mac-network_ros2-fast-dds-discovery-server_1) 32 | 33 | # ros galactic super-client setup 34 | 35 | # restart ros deamon 36 | ros2 daemon stop 37 | ros2 daemon start -------------------------------------------------------------------------------- /stop.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | scriptDir=`dirname "$0"` 4 | # stop ros galactic fast-dds discovery server 5 | docker-compose -f $scriptDir/docker-compose.yml down 6 | docker-compose -f $scriptDir/docker-mac-network/docker-compose.yml down 7 | --------------------------------------------------------------------------------