YOU HAVE BEEN WARNED! After the connection is made, all the user has to do is type the ros command in quotes preceded by the calling of the /send_data service. where, IP_address_master and Port_number is same as above but IP_address_local should be the IP address of your local computer. As a result, ROS has certain requirements of the network configuration: Srinath, Kamaldeep 8 years ago Try the following: gst-launch-1. The first step needed to connect to your ROS Master is setting up the proper environment variables. But assuming that the user would do that, just for example purposes, the syntax would be. Also new developers can create their own application using ROSRemote to run on cloud and access remote devices. Are you using ROS 2 (Dashing/Foxy/Rolling)? This is currently the only topic published by android_sensors_driver. I hope somebody can help me with this network configuration issue.. checking here (http://wiki.ros.org/ROS/Tutorials/Mul, at the end) Seems like could be that you forgot to define ROS_IP, You can define ROS_IP either with export ROS_IP or with export ROS_HOSTNAME, Assume robot IP is = 192.168.1.10 and remote PC IP is 192.168.1.20 After that, the user needs to start the package that has the service needed to send the information, tha package is called cloud_ros and the main file, that starts the node, is main_cloud_ros. I know this is an old post, but I'm facing kind of the same problem. Connect separate ROS nodes to each ROS master. On the machine running roscore, you needn't worry about ROS_MASTER_URI or ROS_HOSTNAME. It is also important to remember that whenever the user wants to send the commands to a remote master, it needs to call the /send_data service. (10) curl: (7) Failed to connect to raw.githubusercontent.com port 443: Connection refused _Jolting-CSDN 2sudo rosdep init. Anyone have success connecting WSL2 to a remote robot. This will start RosAria on the robot connected in the IP given by the user. The ROS machine is not reachable on the device that the port is opened for (this can happen for example in a VM/Docker NAT situation. Run these two commands on the remote PC echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/.bashrc echo export ROS_HOSTNAME=IP_OF_PC >> ~/.bashrc Then, launch the keyboard control on the remote PC: roslaunch turtlebot_teleop keyboard_teleop.launch Press the keys listed in the terminal and move the turtlebot around. In ROSRemote, if the user wants to, it can call the /send_data service in a remote device, it is not necessary since one can connect to which device is wanted, but to exemplify, users can use the command to call itself in a remote master and send any command, like rostopic list, for instance. In the features implemented in ROSRemote includes rosservice list, rosservice args, rosservice call, rosservice node, rosservice type and they are explained next. Select one machine to run it on. Wiki: ROSRemote (last edited 2017-12-11 18:37:10 by AlysonPereira), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/alysonmp/ROSRemote.git. * service [/hlds_laser_publisher/get_loggers] appears to be malfunctioning: Unable to communicate with service [/hlds_laser_publisher/get_loggers], address [rosrpc://robot:53743] I've run into the same issue and every time it was caused by messed up /etc/hosts file and/or lack of the ROS_IP export. Open a new terminal and type the following: $ export ROS_MASTER_URI=http://10.0.0.14:11311 $ export ROS_IP=10.0.0.13 You will need to type the above two commands in each new terminal that will interact with the robot. The ROS Wiki is for ROS 1. For example running this on the robot board: rostopic pub /robot/str std_msgs/String "Hello there". I have already read through several threads like this but couldn't figure out what my issue is.. * service [/hlds_laser_publisher/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/hlds_laser_publisher/set_logger_level], address [rosrpc://robot:53743]. In ROS2 DDS communication, ROS_DOMAIN . . So, to run the package the user needs the following command. Publishing 3D centroid and min-max values, How to create rviz tool plugin like 2DPose estimate, ROS remote master: can see topics but no data, Creative Commons Attribution Share Alike 3.0. Specify the address, user name, and password of your specific ROS device. This node creates a Spacebrew client and also start a ROS service called /send_data, that is responsible for sending the information to the remote device. In a previous exercise, we added a line to our .bashrc to automatically source devel/setup.bash in new terminal windows This will automatically export the results of the build into your new terminal session. 3 Beds, 2 Baths. To ensure connection, create an authorized-key: # 1. Just refer to the strings in ~/.bashrc? The most often used protocol for connection is the standard Transmission Control Protocol / Internet Protocol ( TCP / IP) or Internet Protocol called TCPROS in ROS. You added IP addresses to /etc/hosts, but what did you do then? refer to https://husarion.com/tutorials/ros-tu You can use roswtf to see what's happening. There must be complete, bi-directional connectivity between all pairs of machines, on all ports (see ROS/NetworkSetup ). So, you should select the IP of your machine on the internal network, or listen on any interface: export ROS_IP=0.0.0.0 # Listen on any interface, export ROS_IP=192.168.1.1 # Listen on 192.168.1.1. When I try 'rostopic echo /scan' on the robot I can see the data - so it definetly should work! I've been fooling around with WSL2 lately, trying to subscribe to ROS2 topics from my robot. I downloaded ros-indego in linux 14.04 and I followed this link in order to publish the position of the phone to ros : connecting to a ros master PC3: 192.168.1.4. Hello. ROS2 Network Configuration. In order to use ROSRemote first it is necessary to start the master on all devices that the user want to connect, it includes robots and computers. This behavior can be overridden with the reuse-master flag, and then the standard ROS_MASTER_URI will be used for the test. How can I launch rviz on a remote machine ? While working on multiple machines, you need only one roscore running. you just need to be able to ping between the machines. I have a stereo camera that publishes a RGB image as well as a depth one. In the ssh terminal, run the launch file kinect_left.launch directly as: roslaunch openni_launch_marvin . Depending on how the system is configured, any node may need to communicate with any other node, at any time. Server laptop, hostname: serverhostname (replace it with the actual hostname in these instructions) (IP: 10.9.11.1), Third computer, hostname: thirdcomputerhostname (replace it with the actual hostname in these instructions). I just don't get it. Now, you are ready to launch the file from your remote terminal. I currently have 4 systems: Robot: 192.168.1.1 Thank you guys for your help ! If this ERROR occurs, you need to add the hostname of both machines to /etc/hosts like this: You can run hostname in terminal to see the hostname of the machine. Step 2: I re-installed a Linux image and ROS Kinetic on the Raspberry Pi 3 board. I have got a question about running ROS on several machines. I had the same issue. Maintainer: Alyson Benoni Matias Pereira , Author: Alyson Benoni Matias Pereira , Guilherme Sousa Bastos , Source: git https://github.com/alysonmp/ROSRemote.git (branch: master). This should be the answer. Your no longer require a separate launch file. Have you set ROS_IP or ROS_HOSTNAME? I tried several things like setting ROS_IP, ROS_HOSTNAME, etc. but I could not get it running. There are ways to connect to the rostest's roscore, which is restarted for each test in order to have a clean test fixture.. Indigo and later. check your firewalls on both. In reality, this is necessary because there may be multiple getaways available and ROS simply wouldn't know which one to use. If I run rviz within the robot (I have to connect a monitor to it), I'm able to see both. Additionally you will need to sync the two machines or else you will have this problem: http://answers.ros.org/question/705/set-the-initial-pose-with-rviz mmwise ( Jun 21 '11 ) Use this screen and enter the ROS_MASTER_URI you wish to connect to. Your ROS nodes may fail to communicate. In the next example the user is calling the command rostopic list and will receive the answer from a remote master or robot. Done in 0.3789 seconds. The URI of the master is a global value, and all the nodes can connect to it. Configure ROS_MASTER_URI on the host (mobile robot). It is possible to send common ROS commands like "rostopic list" to a remote master and recover all the topics it is publishing at the time. Done in 0.37952 seconds. Just add the publishing computer to the /etc/hosts file in the same format as the localhost is added. A running ROS system can comprise dozens, even hundreds of nodes, spread across multiple machines. * /hlds_laser_publisher, ERROR The following nodes should be connected but aren't: See the Software Description > Software description of the Hand > Command line interface. Here's the condensed version of what's going on: Initialize the ROS system ; Advertise that we are going to be publishing std_msgs/String messages on the chatter topic to the master. The reverse port has been altered on the ROS side, but not on the robot. Is Pose View in rqt buggy or not finished? To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification Any other ideas? It is necessary to send the IP and the port, an example would be as follows. When no port is set, localhost (127.0.0.1) is used. All the existing features will be demonstrated in the next sections, as well as a brief tutorial on how to use them in ROSRemote. In order to use this command in ROSRemote, the user needs to insert the following. 1. This worked for me. ROS_MASTER_URL; 1. Then, test if the additional computer can see the ROS topics and echo the contents: Now the additional computer is fully connected ROS MASTER of the server laptop. Getting video from ROS slave. ROS is becoming a widespread tool for controlling robots, but it was build to work offline and trust in third part packages for working on cloud. export ROS_MASTER_URI=http://remotePC:11311 If one does not export ROS_IP on the publishing PC, it should be possible to list the topics but you won't be able to establish a connection. Connect to a remote ROS device and start a ROS node. The last thing the user needs to do to connect the devices is open the Spacebrew Web Admin Tool and connect the clients, this tool is opened by typing the server URL in the browser. 10.9.11.5). Hello everyone. This usually occurs when your hostname, e.g. What made a difference is the /etc/hosts file on the remote PC having the hostname and ip of the master PC. You can run and stop a ROS core or node and check their status using a rosdevice object. The normal way is: You have to set the ROS_MASTER_URI and ROS_HOSTNAME environment variable in the terminal according to https://wiki.ros.org/ROS/NetworkSetup. As described before, not all ros features were introduced in this package, but some of the most important ones were implemented. To connect additional computers with ROS to server laptop and NUC ROS network (to control and see data from the hand/arm), it is only necessary to have the server laptop and the additional non-Shadow computer with ROS on the same network. export ROS_HOSTNAME=remotePC, robot: by ping) each other (from/to) using whatever name this is known by to ROS. Seeing the topics only shows you one direction of communication. I solved this problem. echo Using ROS MASTER at $ROS_MASTER_URI from $ROS_HOSTNAME. Differently from rostopic list, where the user just need to send the command, in echo it is necessary to send the topic name and also the publication frequency. I want to visualize the lidar data of the robot in rviz on my remote PC. $ export ROS_MASTER_URI=http://192.168.7.1:11311 Now, do that same step on your laptop. Now let's get back to the ROS Master (PC) and connect to the camera. Step 1: I checked that everything was okay with ROS Kinetic on my Linux PC. The ROS Master must be running before any ROS nodes can function. Check out the ROS 2 Documentation. To connect the Third computer to the same network as the server . ERROR Could not contact the following nodes: On the client machine, not running roscore, there's two things you need to do. Call a service that is running in a device. First, you need to make sure that ROS nodes are able to connect to the master by specifying ROS_MASTER_URI: export ROS_MASTER_URI=192.168.1.1:11311 Second, you need to make sure that nodes running on the remote machine can also access topics published on the local machine, by setting ROS_IP to something different than 127.0.0.1, so: Once you have the IP address, use it to set the ROS_MASTER_URI environment variable. m2 = ros.Core (12000); Launching ROS Core. When calling this package in ROS, the user has to use := instead of @, but since := is a reserved Python command, it was not possible to use it in the project, so it was necessary to change into an @ and them, internally, make ROSRemote change to the correct one. This is done by using the command. Thanks for posting an answer to your problem. I'm completely sure the machines can communicate with each other as I can subscribe to simple topics. The Third computer will then get an IP in the same network as the Server laptop and the NUC (e.g. So let's run all three ROS 2 Nodes we have in the project in separate Docker containers, keeping the system configuration simple and transparent. Rosservice is designed to get information and start services running in a device. So, to use ROS over network, you need do two two things: On the machine running roscore, you need to make sure that your services listen on any port. export ROS_MASTER_URI=http://remotePC:11311 m1 = ros.Core; % Default port of 11311 Launching ROS Core. The actual problem here is network resolution. . Connect ROS nodes to each master based on how you want to distribute information across the network. Cannot import custom message using rospy (Groovy) [closed], Not able to compile a .msg using pcl_msgs type variables, rossrv md5 and gendeps --md5 differs in groovy [closed], Can't find moveit_benchmark_statistics.py, roscd: command not found (in groovy 12.04). Run a ROS core so that ROS nodes can communicate via a ROS network. So i added this host to '/etc/hosts'. I can retrieve the message on my PC with: The problem arises when the topics are of type sensor_msgs/Image. Please start posting anonymously - your entry will be published after you log in or create a new account. Roscore/Rosmaster is running on the Robot and on all PCs I have set "export ROS_MASTER_URI=http://192.168.1.1:11311". ssh-keygen -t rsa # 2. The server laptop acts as the ROS MASTER. Matlab cannot connect to ROS master on virtual machine. You can run and stop a ROS core or node and check their status using a rosdevice object. PC1: 192.168.1.2 On the robot (the ROS master) run the following commands and then run roscore and any ros node. Yeah, I tried everything else in the other answers. Copyright 2018-2022 Shadow Robot Company. Via ROS Slave. But ultimately this helped. ROS rosdep update . The syntax of this functionality is almost the same as the rostopic list. To do this, you'll first need to determine your IP address for the network that your Android device and ROS master will share. Create two ROS masters on different ports. 192.168.1.12). The Third computer will be connected to your home/office network and will have a similar IP address (e.g. Run a ROS core so that ROS nodes can communicate via a ROS network. This will create Spacebrew client as well as start the service /send_data, that will be called to send the information to the remote devices. Why can I see the topics but can't receive/send messages? On PC1 and PC3 I don't receive any data. On the remote PC, apply the following settings before running your application: Then try to access robot topics on your remote PC. ROS is a distributed computing environment. Hi everyone and thanks for your answers. In order to run ROS, the devices must have a master instance running on them, so, ROSRemote are able to connect two masters through SpaceBrew, as shown in the figure below. Open a new terminal window and connect to ROS Slave, and find out which camera address to use: Add Tip Ask Question Comment Download Step 1: Getting Neccesery Tools First we need to optain neccecery dev tools. I solved my problem by adding both machines' hostname to /etc/hosts. here are the complete setup : I am using Matlab 2017B on my host machine, also have Ubuntu 16.04 LTS and ROS kinetic running on Virtual machine (Virtualbox). you might also need to set the ROS_IP of the robot. When I tried roswtf it tells me: To connect additional computers with ROS to server laptop and NUC ROS network (to control and see data from the hand/arm), it is only necessary to have the server laptop and the additional non-Shadow computer with ROS on the same network. ROCON Multi-Master Framework ROS over Multiple Machines Setting up WiFi hotspot at the boot up for Linux devices Simulation Building a Light Weight Custom Simulator Design considerations for ROS architectures Spawning and Controlling Vehicles in CARLA NDT Matching with Autoware Interfacing Myo Blink(1) LED micro-ROS for ROS2 on Microcontrollers You can disable your firewall for a quick test: It was the firewall. the Ifconfig result is : ethernet address: 10.0.2.15 (on Ubuntu) on host machine : Theme Copy ipconfig 130.209.140.237 on Ubuntu Theme As I wrote, "rostopic list" works, but not "rostopic echo /someTopic". The problem is related to your ROS master network configuration for ROS. You should see /android_sensors_driver in the list. Since ROSRemote publishes directly on the cmd_vel of the robot to make it walk, the user needs to set this name to make the ROSRemote work. Guide to Cross Compiling on a Raspberry Pi. Below are the steps that I did to make both computers communicate with each other. Also 2 comments vifremel commented on Jan 5 vifremel mentioned this issue on Jan 5 Remote node launching by machine tag RoboStack/ros-noetic#207 Closed Once these nodes are able to locate one another, they can communicate with each other peer-to-peer. link Comments What finally solved my problem was adding all PCs with their hostnames and IP Adresses to the "/etc/hosts" file. It was because the node running roscore had a hostname and that hostname was not added to the /etc/host file or the remote PC. Remember that only one devices can run ROS Master. Build SSH Connection Between Local And Remote: The way roslaunch-nodes works, needs a valid ssh-connection between the local and the remote machines. Revision 3e1848d9. When you run the android_sensors_driver app, the are presented with is the master chooser. The ROS Wiki is for ROS 1. where "robot-desktop" is the hostname of the master machine. The fisrt thing the user needs to do is to connect to the remote robot using ROSRemote and RosAria, in this case, the command is. On the robot (the ROS master) run the following commands and then run roscore and any ros node source /opt/ros/melodic/setup.bash export ROS_MASTER_URI=http://192.168.1.10:11311 export ROS_IP=192.168.1.10 On the remote PC, apply the following settings before running your application: You would give a name to decodebin as well and link them. First, you need to make sure that ROS nodes are able to connect to the master by specifying ROS_MASTER_URI: Second, you need to make sure that nodes running on the remote machine can also access topics published on the local machine, by setting ROS_IP to something different than 127.0.0.1, so: export ROS_IP=0.0.0.0 # To listen on any interface, Use below cmd to disable Firewall (refer). To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification Now my problem is that I can see with 'rostopic list' the topic /scan but when I try 'rostopic echo /scan' on my remote PC nothing is published. Check out the ROS 2 Documentation. I installed it some time ago using the steps described here. All nodes must be configured to use the same master, via ROS_MASTER_URI. Then users are already able to send teleoperational commands to the robot by using the arrow keys on keyboard, just like it would do if the robot was in a local network. Specify the address, user name, and password of your specific ROS device. But when I enter "rostopic echo /someTopic", it only works for PC2. I have to do some command like below in order to make everyone in LAN communicate with the specific host:PORT on WSL2. Since then, everything works fine. or else the HDMI port of the Raspberry Pi will be disabled. All ROS_IP, ROS_MASTER_URI settings were fine, I did see the topics but when subscribed no message came through. The role of the Master is to enable individual ROS nodes to locate one another. The first step needed to connect to your ROS Master is setting up the proper environment variables. The tutorial about ROS remote says, that it is only necessary that the PCs can ping each other and that nothing else except "ROS_MASTER_URI" needs to be configured. Rostopic is designed to get information about the topics running on a device, in the features implemented in ROSRemote includes rostopic list, rostopic echo and rostopic info and they are explained next. PC2: 192.168.1.3 netsh interface portproxy delete v4tov4 listenport=$port listenaddress=$addr But here comes a new question: The nodes which use TCPROS to communicate with each other have a random PORT every time I launch the file. ROSRemote was created to help user to easily control a robot on cloud. A ROS Node can be a Publisher or a Subscriber. For example if you are connecting robot and laptop, run roscore only on one of those two devices. Rosrun is designed to start a package in ros, the same way the user can start a package remotely by using the simple command. For the purpose of this development, it was used RosAria teleop. You can now move onto setting up the Android device. To do this, you'll first need to determine your IP address for the network that your Android device and ROS master will share. Take a look at: http://wiki.ros.org/ROS/NetworkSetup. (Because ros node ssh not the linux ssh, so it must choose rsa way.) Rostopic list returns to the user a list of all currently published topics. The only package that the user can not start remotely is the ROSRemote package, because it already has to be running on the remote machine. ROSRemote is simple and only use one node to work. Creat an ssh-key on local machine. To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification Since SpaceBrew gives the user the possibility to connect two or more masters among themselves, it is possible for the user to send a command from his local machine and receive the answer at the same time that other connected machines also receive the answer. I have added the hostname and the topics immediately started to show their data on the remote PC. Following the Networking setup information from ROS, not only do you need to be able to ping each other (which I can with no problem), ALL ports need to be available between the nodes. Once you've done this, you should see your device attempting to access sensors, so now it's time to go back to your computer to see if your device connected. I simple used roswtf and realized that it can't find hostname. 192.168.1.11), Server laptop (IP: 10.9.11.1 and 192.168.1.12). On the remote computer we need to set the ROS_MASTER_URI to the robot's IP and the ROS_IP to the remote computer IP. SOLUTION 3: Using VPN Container + Multiple ROS containers. To connect the Third computer to the same network as the server laptop and the NUC, follow these steps: Connect an ethernet cable from the Shadow-provided router to the Third computer. There is a firewall blocking access on the ROS machine. ROsservice type shows what is the type of a service, very useful when the user needs to create a software that call this service, because it is necessary to know which type it has in order do correctly call it. At the moment of writing, the master branches from both pygobject and gstreamer . $1,950 /mo. Share Improve this answer Follow Thx for your answer. A paper named ROSRemote, using ROS on cloud to access robots remotely was presented at ICAR 2017. Open a second terminal to run your node. Accelerated GStreamer User Guide. Be sure to substitute your IP address for '192.168.1.204'. Make sure the server laptop hostname (serverhostname) is present exactly twice in the server laptop local machine /etc/hosts: Also make sure the Third computer IP is present in this /etc/hosts file: You can start a container terminal by clicking on 1 - Launch Server Container in Shadow Advanced Launchers), make sure the name server laptop hostname is also present exactly twice in the /etc/hosts of the container: Make sure the third computer hostname (thirdcomputerhostname) is present exactly twice in the third computer /etc/hosts: Also make sure the server laptop is present in this /etc/hosts file: Run the following command in the Third computer (or inside its Docker container if using Docker): Connect an ethernet cable from your home/office router to the Server laptop or connect the server laptop to your home/office wifi. Package Summary ROSRemote is a framework that helps users to control remote robots and recover information from them as well as from remote masters. The cause is that the services on the remote machine are not accepting remote connections, only local. To run ROS on multiple machines you need to connect them to the same LAN network at first. Please start posting anonymously - your entry will be published after you log in or create a new account. Once you have the IP address, use it to set the ROS_MASTER_URI environment variable. The server laptop acts as the ROS MASTER. If the user is using the Spacebrew free server, the address would be Spacebrew server. Further more, all PCs can ping each other and it is possible to establish ssh connections. ROS MASTER and connecting additional computers, On the Third computer (and also in the Third computer Docker container if using Docker on the Third computer). In this case the remote device will send the command to another remote device and the user will receive the answer. The syntax is also simple and very similar to rostopic echo, but instead of sending the topic name, the user sends the service name. For me I got this error on my client machine: ERROR: Unknown host [robot-desktop] for node [***]. * /hlds_laser_publisher->/rosout (/rosout), ERROR Errors connecting to the following services: Deploying a ROS system across multiple machines is easy. Rostopic echo returns to the user what a certain topic is publishing. Contribute to HesselM/rpicross_notes development by creating an account on GitHub. It is possible to send common ROS commands like "rostopic list" to a remote master and recover all the topics it is publishing at the time. Finally, you can debug the output of the driver by: However, be aware the driver will not publish a message until GPS on your device has acquired a fix (the GPS Icon on your phone will have the solid center). 'mylaptop', isn't configured with DNS, which is common with laptops and other situations. To test connectivity to the Android device, try: You should see something like the following if it's successful: Somewhere in the list of rostopics you should see /android/fix. Matching Rentals near Mossy Creek - Stone Mountain, GA. Stone Mountain Gem! 3rosdep update. The server laptop will acquire a second IP address (e.g. Both are connected to the same network and can ping each other. Alternatively, the user can send an extra parameter to the command to recover the srv file of the service, in case this service was developed by a user and uses a srv that was created by him/her. Usually this can happen when. Its syntax is the same as the rostopic echo but in this case it is not necessary to send the publish rate. As mentioned at the beginning, it is a good practice to keep a single Docker container as lean as possible. The syntx is also the same than most of the rosservice commands. Package Summary ROSRemote is a framework that helps users to control remote robots and recover information from them as well as from remote masters. As ROS is capable of running across multiple computers, it is important to configure it to use the correct IP address. * /hlds_laser_publisher->/rviz_1602065662574712563 (/scan) Connect to a remote ROS device and start a ROS node. Keep the following things in mind: You only need one master. ).Raspberry Pi 4B with Raspbian 64 already installed Connection to the Internet. export ROS_HOSTNAME=robot, I have added the IPs of robot and remotePCo /etc/hosts. Create a connection to a ROS device. 2828 Cherokee Cove SW Stone Mountain, GA 30087. I just spend the entire day trying everything! I'm having the same problem and any help would be wonderful. By default rostest uses a random port so many rostests can be run in parallel.. Re-use an already-running master. Every computer needs to be able to talk to (test e.g. To see if the Android device connected, try listed available nodes. To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification Something trying to get access to rosmaster by hostnames from my local machine. Thanks man! Shadow is a registered trademark of The Shadow Robot Company Ltd. ROS remote master: can see topics but no data, Creative Commons Attribution Share Alike 3.0. Master is my remote PC -> bashrc network configuration is like the following: remotePC: The main difference in this command between ros and ROSRemote, is that, due to a Spacebrew limitation, the user needs to send the publishing frequency, which cannot be too high, like 15 or more hertz, for example, this means that in each second, the user will receive 15 answers from the topic running on remote devices. Since you can ping the master but a subscriber can't subscribe to a topic, this shows that probably the master computer (in your case RaspberryPi) don't accept remote connections but only local. I'm sorry, but I had the same issue and ROS_IP was set properly, it didn't make a difference. Here comes the strange thing I do not understand: I can enter "rostopic list" on each PC, and I can see the topics that are running in the roscore on the robot. Not all ros features were already implemented, but can be done in the future. Shows all the arguments needed to call a determined service. They make possible a huge range of applications to be created and there is also the possibility for the user/developer to create more, increasing the usability of the package. After starting the RosAria, the user needs to find out what is the name of the topic that the robot publishes, in the testes made in ROSRemote, the topic name was Rosaria and that is the name needed to set the robot that will receive the commands. To do so, it was used SpaceBrew framework that helps creating connections between two or more devices by finding their public IPs and establishing a connection among them, this connection is done through a server that can be easily implemented by the user, in case he/she does not want to use the free SpaceBrew server. The wrong PC address is configured on the teach pendant. The syntax is the same as the one in the rosservice args, but the user needs to change args by call. Create a connection to a ROS device. 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