In this tutorial we will see how to set up the connexion between the ROS master of the REETI and a remote computer.
Setting the Environment Variable
In order to use ROS from a remote computer you will need to add some environment variables on your computer and on the REETI.
On the REETI :
- Open the ".bashrc" file in the "home" directory of the REETI
- On a terminal use "ifconfig" in order to get the IP adress of the REETI
- On the ".bashrc" file add the following lines:
- ROS_IP="IP_ADRESS_FOUND"
- ROS_HOSTNAME="reeti"
On the remote computer:
- Open the ".bashrc" file in the "home" directory of the computer
- On a terminal use "ifconfig" in order to get the IP adress of the computer
- On the ".bashrc" file add the following lines:
- ROS_IP="IP_ADRESS_FOUND"
- ROS_HOSTNAME="HOSTNAME_OF_THE_COMPUTER"
- ROS_MASTER_URI="http://IP_ADRESS_OF_THE_REETI:11311"
Save and close the files.
Testing the connexion
Open a new terminal on the REETI and launch "roscore".
Open a new terminal on the REETI and launch "rosrun reetiros ReetiRos"
Open a terminal in the remote computer and launch : "rosservice list", you should be able to see the different services of the node you launched earlier as "/Say" or "/SetPose".
You can now create new ros nodes on your computer and make them communicate with the Reeti Ros Node on the REETI.
TroubleShooting
If when you using a node on the remote computer you fail to call the associated service on the REETI and the roscore on the REETI prints: "Couldn't find an AF_INET address for".
In the file explorer of the remote computer go to "/etc" and open the "hosts" and then add the following line :
- IP_ADRESS_OF_THE_REETI reeti
In the file explorer of the Reeti go to "/etc" and open the "hosts" and then add the following line :
- IP_ADRESS_OF_THE_REETI HOSTNAME_OF_THE_COMPUTER
Close all the opened terminal and retry.