Localhost configuration with MicroROS and CycloneDDS

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I'm working with CycloneDDS for ROS2 Humble and I'm trying to use the ROS_LOCALHOST_ONLY variable (or another localhost configuration) with MicroROS. While it worked with FastDDS, I haven't been able to establish communication between the agent and the ROS system using CycloneDDS, even though both are running on the same machine.

The (serial) connection between the agent and the microcontroller is successfully established, and all instances (subscribers, publishers, etc.) are created without issues. However, the topics are not visible in any other terminal on the machine.

Everything run on Ubuntu22/Jetpack6.

Is there an option to enable this configuration or will it be included in the future?

Commencez par examiner la manière dont ROS_LOCALHOST_ONLY et CycloneDDS sont configurés pour l’agent micro-ROS, en comparant la configuration signalée avec le cas fonctionnel de FastDDS. Reproduisez la configuration Ubuntu 22/Jetpack 6 et vérifiez si les topics de l’agent deviennent visibles depuis un autre terminal ; c’est terminé lorsque la communication localhost fonctionne avec CycloneDDS ou que la limitation prise en charge est documentée.

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