Startup a SSH Connection to Server with ROS2 Foxy WS

Oct 13, 2025 by leolavanderia.com.br 22 views

URDF Render ROS2 Foxy via SSH: Troubleshooting and Solution

In this article, we will explore the issue of rendering URDF (Unified Robot Description Format) files using the ROS 2 Foxy workspace via SSH connection in Visual Studio Code (VS Code). We will go through the repro steps, expected behavior, and additional context to understand the problem and find a solution.

The bug is that the URDF file is not rendered as expected when using a SSH client/server connection to a ROS 2 Foxy workspace in VS Code. This issue is specific to remote connections and does not occur when working locally.

To reproduce the issue, follow these steps:

VSCode Running: Ensure that VS Code is running on your local machine.
Startup a SSH Connection to Server with ROS2 Foxy WS: Establish a SSH connection to a server with a ROS 2 Foxy workspace installed.
Enable VS Code ROS Extension: Enable the VS Code ROS extension, which should detect the ROS 2 Foxy workspace.
Open URDF (basic.urdf): Open the basic.urdf file, which is a test data provided by @ooeygui mentioned in #961.
CTRL-P, ROS: Preview URDF: Press CTRL-P and select ROS: Preview URDF to render the URDF file.

The expected behavior is that a window should open up with the rendered URDF file.

It is worth noting that the same URDF file renders fine locally, using the same steps but without SSH. This suggests that the issue is specific to remote connections and may be related to the way the ROS extension handles SSH connections.

To troubleshoot and solve this issue, we can try the following:

Check SSH Connection: Ensure that the SSH connection is stable and working correctly.
Verify ROS Extension: Verify that the ROS extension is enabled and properly configured.
Check URDF File: Check the URDF file for any errors or issues that may be preventing it from rendering correctly.
Try Local Rendering: Try rendering the URDF file locally to ensure that it is not a problem with the file itself.

After investigating the issue, it appears that the problem is related to the way the ROS extension handles SSH connections. To solve this issue, we can try the following:

Update ROS Extension: Update the ROS extension to the latest version.
Configure SSH Connection: Configure the SSH connection to use a specific user and password.
Use SSH Tunnel: Use an SSH tunnel to connect to the ROS 2 Foxy workspace.

In conclusion, the issue of rendering URDF files using the ROS 2 Foxy workspace via SSH connection in VS Code is a complex problem that requires careful troubleshooting and analysis. By following the repro steps, expected behavior, and additional context, we can identify the root cause of the issue and find a solution. The solution involves updating the ROS extension, configuring the SSH connection, and using an SSH tunnel to connect to the ROS 2 Foxy workspace.

System Configuration:
- Linux: SSH Server/Client Ubuntu20.04 LTS on Raspberry Pi 4B 8GB / Ubuntu20.04 LTS
- ROS 2: Foxy
- VS Code ROS Extension Version: v0.9.2
- VS Code Version: 1.81.1
Test Data:
- basic.urdf file provided by @ooeygui mentioned in #961.
  URDF Render ROS2 Foxy via SSH: Q&A

In our previous article, we explored the issue of rendering URDF (Unified Robot Description Format) files using the ROS 2 Foxy workspace via SSH connection in Visual Studio Code (VS Code). We also provided a solution to this issue. In this article, we will answer some frequently asked questions (FAQs) related to this topic.

A: The issue is that the URDF file is not rendered as expected when using a SSH client/server connection to a ROS 2 Foxy workspace in VS Code. This issue is specific to remote connections and does not occur when working locally.

A: The issue occurs only with SSH connections because the ROS extension has difficulty handling the SSH connection. This can be due to various reasons such as network issues, SSH configuration problems, or issues with the ROS extension itself.

A: To troubleshoot the issue, you can try the following:

Check SSH Connection: Ensure that the SSH connection is stable and working correctly.
Verify ROS Extension: Verify that the ROS extension is enabled and properly configured.
Check URDF File: Check the URDF file for any errors or issues that may be preventing it from rendering correctly.
Try Local Rendering: Try rendering the URDF file locally to ensure that it is not a problem with the file itself.

A: The possible solutions to the issue are:

Update ROS Extension: Update the ROS extension to the latest version.
Configure SSH Connection: Configure the SSH connection to use a specific user and password.
Use SSH Tunnel: Use an SSH tunnel to connect to the ROS 2 Foxy workspace.

A: To configure the SSH connection, you can follow these steps:

Open SSH Configuration File: Open the SSH configuration file (usually located at ~/.ssh/config).
Add SSH Connection Configuration: Add the following configuration to the file:

Host <hostname>
  User <username>
  Port <port>
  IdentityFile <private_key>

Replace <hostname>, <username>, <port>, and <private_key> with your actual SSH connection details.

A: To use an SSH tunnel, you can follow these steps:

Open SSH Connection: Open an SSH connection to the ROS 2 Foxy workspace.
Create SSH Tunnel: Create an SSH tunnel using the following command:

ssh -L <local_port>:<remote_host>:<remote_port> <username>@<hostname>

Replace <local_port>, <remote_host>, <remote_port>, <username>, and <hostname> with your actual SSH connection details.

A: The benefits of using an SSH tunnel are:

Improved Security: SSH tunnels provide an additional layer of security by encrypting the data transmitted between the local machine and the remote host.
Improved Performance: SSH tunnels can improve performance by reducing the latency and packet loss associated with remote connections.
Improved Reliability: SSH tunnels can improve reliability by providing a more stable and consistent connection.