From f3c68f143b9001c3fccc2a6481755def4fb9e703 Mon Sep 17 00:00:00 2001
From: Jeroen Veen <jveen1@gmail.com>
Date: Wed, 23 Apr 2025 09:10:15 +0200
Subject: [PATCH] To allow ROS2 communication over Tailscale, explicitly
 disable multicast and use unicast for DDS communications

---
 cyclonedds.xml         | 18 ++++++++++++++++++
 pixi.toml              |  8 +++++++-
 setup_ros_tailscale.sh | 16 ++++++++++++++++
 3 files changed, 41 insertions(+), 1 deletion(-)
 create mode 100644 cyclonedds.xml
 create mode 100755 setup_ros_tailscale.sh

diff --git a/cyclonedds.xml b/cyclonedds.xml
new file mode 100644
index 0000000..d22795c
--- /dev/null
+++ b/cyclonedds.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config">
+  <Domain>
+    <General>
+	<Interfaces>
+	  <NetworkInterface name="tailscale0" />
+	</Interfaces>
+      <AllowMulticast>false</AllowMulticast>
+    </General>
+    <Discovery>
+      <Peers>
+        <!-- On Device A, put Device B's Tailscale IP -->
+        <Peer address="100.96.130.58"/>
+      </Peers>
+      <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
diff --git a/pixi.toml b/pixi.toml
index 1aeca5c..e7def26 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -8,6 +8,11 @@ preview = ["pixi-build"]
 [tasks]
 build = "colcon build --packages-select audio_tools --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
+# Run the audio capture node and publish via tailscale
+run_audio_capture_tailscale = { cmd = [
+    "./setup_ros_tailscale.sh", "ros2", "run", "audio_tools", "audio_capture_node", "--ros-args", "-p", "sample_rate:=16000", "-p", "channels:=1", "-p", "sample_format:=S16LE"
+], depends-on = ["build"] }
+
 [target.win-64.tasks]
 vscode = "code ."
 
@@ -36,4 +41,5 @@ numpy = "*"
 
 [target.win-64.dependencies]
 python-devtools = "*"
-python = "*"
\ No newline at end of file
+python = "*"
+
diff --git a/setup_ros_tailscale.sh b/setup_ros_tailscale.sh
new file mode 100755
index 0000000..12ce77c
--- /dev/null
+++ b/setup_ros_tailscale.sh
@@ -0,0 +1,16 @@
+#!/bin/bash
+
+# Set up the network and DDS environment variables for Tailscale
+export CYCLONEDDS_URI=file://$PIXI_PROJECT_ROOT/cyclonedds.xml
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_NETWORK_INTERFACE=tailscale0
+export ROS_IP=$(tailscale ip -4)
+export ROS_DOMAIN_ID=0
+
+# Source the ROS workspace
+source install/setup.bash
+
+# Execute the command passed as arguments
+exec "$@"
+
+echo "ROS2 environment configured for Tailscale communication"