Ros launch gets stuck on robot [closed]
I am trying to set up a Ros Network between a Robot (Clearpath AGV) and a Multi-access edge computing device (MEC) via 5G. I start roscore on the MEC and launch some nodes there. Everything works fine, but when when starting any launch file on robot side they get stuck as if waiting for the roscore (with and without --wait). This happens also for a simple static_transform_publisher launch. Please find logs of an example launch and the terminal output when I interrupt via keyboard below
The Ros Network seems to be fully established since: - Rostopic list/echo/info works for topics I publish to both ways - Rosrun works on Robot and MEC - Various networking tools (Netcat,...) show that all registered ports are open both ways
More details: - Working with docker with kinetic installed. - Containers run in host network mode - ROS_MASTER_URI is set to the MECs IP - ROS_IP on the robot is set to its own IP - Both IPs are pingable from either machine.
Any help is appreciated!
Logs:
[roslaunch][INFO] 2020-10-05 15:35:44,123: starting in server mode
[roslaunch.parent][INFO] 2020-10-05 15:35:44,123: starting roslaunch parent run
[roslaunch][INFO] 2020-10-05 15:35:44,123: loading roscore config file /opt/ros/kinetic/etc/ros/roscore.xml
[roslaunch] [INFO] 2020-10-05 15:35:44,365: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2020-10-05 15:35:44,365: loading config file /root/catkin_ws/src/realsense-ro
s/realsense2_camera/launch/rs_camera. launch
[roslaunch] [INFO] 2020-10-05 15:35:44,391: Added node of type [nodelet/nodelet] in namespace [/camera/]
[roslaunch] [INFO] 2020-10-05 15:35:44,397: Added node of type [nodelet/nodelet] in namespace [/camera/]
[roslaunch][INFO] 2020-10-05 15:35:44,397: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch][INFO] 2020-10-05 15:35:44,397: ... selected machine [] for node of type [nodelet/nodelet]
[roslaunch.pmon][INFO] 2020-10-05 15:35:44,400: start_process_ monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2020-10-05 15:35:44,400: created process monitor <ProcessMonitor(ProcessMonitor
-1, initial daemon)>
[roslaunch.pmon][INFO] 2020-10-05 15:35:44,400: start_process_ monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2020-10-05 15:35:44,400: starting parent XML-RPC server
[roslaunch.server][INFO] 2020-10-05 15:35:44,400: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2020-10-05 15:35:44,400: waiting for roslaunch XML-RPC server to initialize
[xmlrpc] [INFO] 2020-10-05 15:35:44,400: XML-RPC server binding to 0.0.0.0:0
[xmlrpc] [INFO] 2020-10-05 15:35:44,401: Started XML-RPC server [http://10.0.91.105:41500/ ]
[xmlrpc] [INFO] 2020-10-05 15:35:44,401: xml rpc node: starting XML-RPC server
[roslaunch.pmon][INFO] 2020-10-05 15:35:50,254: ProcessMonitor.shutdown <ProcessMonitor (ProcessMonitor
-1, started daemon 140017957467904)>
[roslaunch.pmon][INFO] 2020-10-05 15:35:50,308: ProcessMonitor. post_run <ProcessMonitor(ProcessMonito
r-1, started daemon 140017957467904)>
[roslaunch.pmon][INFO] 2020-10-05 15:35:50,308: ProcessMonitor. post_run <ProcessMonitor(ProcessMonito
r-1, started daemon 140017957467904)>: remaining procs are []
[roslaunch.pmon][INFO] 2020-10-05 15:35:50,309: ProcessMonitor exit: cleaning up data structures ...