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Running roscore and nodes in separate computers

asked 2016-09-16 11:24:23 -0500

skr_robo gravatar image

Due to limited storage space, I would like to run my roscore and certain important packages in one system (A Jetson TX1 running ros indigo on ubuntu 14.04) and my subscriber packages in another. Both these systems are on the same router. I believe that Jetson is to be set up as a master/server and the other system should be a client. But how can I set these up?

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Also know that you have to use RSA keys with SSH in ROS, because ROS uses a library for SSH support that doesn't support the newer algorithms. See for more details.

Mark Rose gravatar image Mark Rose  ( 2016-09-16 17:29:35 -0500 )edit

And if you've already been SSH-ing between the hosts, you'll have to manually remove the keys from ~/.ssh/known_hosts (or remove the whole file) before using ssh again with the -oHostKeyAlgorithms='ssh-rsa' flag.

Mark Rose gravatar image Mark Rose  ( 2016-09-16 17:30:51 -0500 )edit

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answered 2016-09-16 23:11:23 -0500

Shay gravatar image

If TX1 is the master, you should run roscore on it, and also some nodes that have to run on TX1. You need to know the IP address of TX1, say, and the roscore port number, say 11311.

And the other machine, your PC, for example, should also install ROS. Don't run roscore on your PC, just export ROS_MASTER_URI= and then run the node directly.

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answered 2020-08-25 06:18:11 -0500

Akr2712 gravatar image

I am trying to do the same where the TX1 is the master and my pc is the client. I want to subscribe to the ros topics from master. After the I followed the steps above, I can see the rostopics listed in my PC(Client). But when do the rostopic echo /topic name I cannot see any values printed. Can you kindly let me know if I am skipping any steps here? or how to receive the messages on the client side?


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Please do not post follow-up/related questions as answers on already answered questions (which in this case is also already almost 4 years old).

Post a new question instead.

But please also note: your question has been answered and discussed many times here on ROS Answers. Please use Google to find previous Q&As about this (append to your query).

gvdhoorn gravatar image gvdhoorn  ( 2020-08-25 06:34:03 -0500 )edit

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Asked: 2016-09-16 11:24:23 -0500

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Last updated: Aug 25 '20