Connect to your robot

VizMini2 is a ROS 2 node on your phone. It joins the DDS network like any other node, so it sees your robot’s topics, services and actions directly: nothing to install on the robot.

Before you start

  • The robot runs ROS 2 with Fast DDS (rmw_fastrtps_cpp, the default in Humble and Jazzy). Topics also work with other DDS implementations; services and actions need Fast DDS.

  • The phone and the robot are on the same network.

  • You know the robot’s ROS_DOMAIN_ID (0 if nobody changed it).

Steps

  1. Open Config in the bottom bar and, under Network, set Domain ID to the robot’s ROS_DOMAIN_ID.

  2. Tap Apply and reconnect.

  3. Go to Home: ROS 2 connection should say Connected, and On the network should list the robot’s topics and nodes.

If On the network only shows this phone

Many Wi-Fi networks (offices, universities, guest and mesh networks) block the multicast traffic DDS uses to discover other computers. Then:

  1. In Config → Network → Discovery peers, write the robot’s IP address (several, separated by commas). It works like ROS_STATIC_PEERS.

  2. Tap Apply and reconnect.

  3. Tap Network check to see what the phone sees and what to try next.

On large networks, over 4G or through a VPN, use a Discovery Server instead (the robot must use the same one). See Network and Troubleshooting.

Save it

Once it works, save everything as a robot profile (Config → Robot profiles → Save as…) to come back with one tap, on any of your phones: Robot profiles.