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Setup HIL, Simulation, and HMI

Communication

Network Configuration

Ensure that all three machines (HIL, Simulation, and HMI) are on the same network and can communicate with each other. You may need to configure firewall settings to allow necessary ports for ROS 2 communication. The following IP configuration is used:

Machine IP Address Hostname
Simulation 192.168.1.1 sim
HIL 192.168.1.2 hil
HMI 192.168.1.4 hmi

Make sure that all machines are reachable by their ip addresses and hostnames. You can test this by pinging each machine from the others.

Verify bandwidth and latency between machines to ensure they meet the requirements for real-time communication. This demo requires at least 60 Mbps bandwidth. Perform a simple bandwidth test using iperf3.

On the Simulation machine (server):

iperf3 -s

On the HIL machine (client):

iperf3 -c 192.168.1.1

On a 1 Gbps wired link you should see close to 900 Mbps. If it comes in far below that, check your cabling, switches, and NIC settings.

DDS Configuration

ROS 2 uses DDS (Data Distribution Service) for communication. To optimize performance, you may need to configure the DDS settings. Add this to your .bashrc or .zshrc file on all three machines:

export ROS_DOMAIN_ID=0
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=~/cyclonedds.xml

Create a cyclonedds.xml file in the specified location with the following content:

<?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>
      <!-- Force no multicast on all interfaces -->
      <Interfaces>
        <NetworkInterface name="<PUT_YOUR_INTERFACE_NAME>" multicast="false" priority="default" />
        <!-- Add more interfaces as needed -->
      </Interfaces>
      <AllowMulticast>false</AllowMulticast>

      <!-- Increase message size if needed to avoid fragmentation -->
      <MaxMessageSize>65536B</MaxMessageSize>  <!-- adjust based on MTU etc. -->
    </General>

    <Discovery>
      <!-- No multicast SPDP, specify peers explicitly -->
      <Peers>
        <Peer address="192.168.1.1"/>  <!-- sim -->
        <Peer address="192.168.1.2"/>  <!-- hil -->
        <Peer address="192.168.1.4"/>  <!-- hmi -->
      </Peers>

      <!-- Optionally fix participant index for port calculation -->
      <ParticipantIndex>auto</ParticipantIndex>

      <!-- SPDP interval tuning -->
      <SPDPInterval>1s</SPDPInterval>  <!-- more frequent to reduce join latency -->
    </Discovery>

    <Internal>
      <!-- Larger socket buffers for heavy throughput -->
      <SocketReceiveBufferSize min="1 MiB" max="16 MiB" />
      <SocketSendBufferSize min="1 MiB" max="16 MiB" />

      <!-- Possibly multiple receive threads if needed -->
      <MultipleReceiveThreads>true</MultipleReceiveThreads>

      <!-- Adjust heartbeat‐interval for reliable performance -->
      <HeartbeatInterval min="5 ms" max="100 ms" />
    </Internal>
  </Domain>
</CycloneDDS>

IMPORTANT: Replace <PUT_YOUR_INTERFACE_NAME> with the actual network interface name (e.g., eth0). You can find your interface name using the ip a command.

Setup HIL

HIL (Hardware in the Loop) is the machine that runs the ROS 2 Stack and GenAI inference.

Setup instructions: HiL setup

Setup Simulation

Simulation is the machine that runs the O3DE simulation environment.

Setup instructions: Simulation setup

Setup HMI

HMI (Human–Machine Interface) is the machine that runs the GUI.

Setup instructions: HMI setup

Next Steps