Autoware on multiple pcs

[xmfcx]

Does anyone have any experience running different parts of Autoware on different machines connected to the same local network?

Any tips/links on ntp clock synchronization and dds configuration is appreciated.

[takam5f2]

@xmfcx

Does anyone have any experience running different parts of Autoware on different machines connected to the same local network?
Yes, I have experienced to connect Autoware and camera-based object detection module via Ethernet.

The following file is a sample of CycloneDDS configuration file. You are able to apply it with export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp and export CYCLONEDDS_URI=file://absolute/path/to/cyclonedds.xml after creating the XML file.
Please access CyclonDDS pages for further details.

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
    <Domain Id="any">
        <General>
            <Interfaces>
                <!-- Set your IP addresses via which the host communicate -->
                <NetworkInterface address="192.168.1.10" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>spdp</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Internal>
            <SocketReceiveBufferSize min="10MB"/>
        </Internal>
        <!--Tracing>
            <Verbosity>config</Verbosity>
        </Tracing-->
    </Domain>
</CycloneDDS>

If you connect multiple network, add other NetworkInterface with address and appropriate priority.

2. More important is setting Kernel parameter for socket buffer and IP fragmentation
   Do not forget setting ROS_DOMAIN_ID also.

sudo sysctl -w net.core.rmem_max=2147483647
sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728     # (128 MB)
export ROS_DOMAIN_ID=10 # choose the common value on the same network

I cannot answer how to configure time synchronization. @drwnz or @manato may answer it.