ROS2 networking between BlueOS flight computer and GCS

I have BlueOS installed on a Raspberry Pi running Ubuntu 24.04 (I’m aware Ubuntu installations aren’t officially supported). I am able to access BlueOS’s web dashboard from my surface computer (also running Ubuntu 24.04), and ssh into the pi. I can also ping each computer from the other. I have installed ROS2 Jazzy on both the Pi and the surface computer. Both ROS installations work correctly, but they are unable to communicate with each other. Unlike ROS1, ROS2 should automatically discover other ROS systems on the same network. I believe this discovery service uses UDP connections on ports 7400 and 7401, does BlueOS use these ports or do they need to be whitelisted in some way?

I am aware of the BlueOS ROS extension, but it appears to be exclusive to ROS1, and networking is significantly different in ROS2. It seems like other users have had success with ROS2 on BlueOS, has anyone encountered this issue?

Thanks!

Noah Mollerstuen
MATE ROV Team Lead
Case Western Reserve University

Hi @NoahMollerstuen
I’m not sure what issue is preventing your ROS2 communications, but this recent talk at the ArduPilot development conference may be helpful to you!

Thanks for the link! Looks like a cool project. It turns out my communication issue was caused by a firewall configuration issue on my own laptop, which I happened to update right as I started testing the Navigator. Thanks for your help!