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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 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.

 

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