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In this tutorial we will see how to set up the connexion between the ROS master of the REETI and a remote linux computer.

Setting the Environment Variable

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  • 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 : IP_ADRESS_REETI (e.g 192.168.0.10)
  • On the ".bashrc" file add the following lines:
    • ROS_IP="IP_ADRESS_REETI"<Ip Address of your reeti (e.g192.168.0.10)>
    • 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 (e.g 192.168.0.20)
  • On a terminal get the hostname of your computer by typing "hostname" (e.g mylaptop)
  • On the ".bashrc" file add the following lines:
    • ROS_IP="IP_ADRESS_COMPUTER"<Ip Address of your computer (e.g192.168.0.20)>
    • ROS_HOSTNAME="HOSTNAME_COMPUTER"<Host Name Of Your computer (eg. "mylaptop")>"
    • ROS_MASTER_URI="http://IP<IP_ADRESS_REETIREETI>:11311" (e.g http://192.168.0.10:11311)

Save and close the files and restart your reeti (to restart the roscore with good ROS_IP and ROS_HOSTNAME).

To get more informations on how to setup ROS with multiple computers, read this page.

Testing the connexion

Open a new terminal on the REETI and launch "roscore"Once your Reeti is restarted, roscore and ReetiRosNode are started automatically.

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".

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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 Edit (as root) the /etc/hosts file of the remote computer go to "/etc" and open the "hosts" and then add the following line :

  • IP_ADRESS_REETI       reeti

In the file explorer of the Reeti go to "/etc" and open the "hosts" and Edit (as root) the /etc/hosts file of the reeti and then add the following line :

  • IP_ADRESS_COMPUTER       HOSTNAME_OF_THE_COMPUTER

 

Close all the opened terminal and retry.

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