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Export Ros over WiFi and Ethernet

asked 2018-05-07 10:08:57 -0500

skynet gravatar image

Hello, I am running ROS 16.04 over an Ethernet network consisting of a network switch, a BBB(Master) and two Intel NUCs. My problem arrises when I add an android phone running rosjava over WiFi connected to the BeagleBone Black. On boot, a service file executes a script that starts rosmaster on the BBB and exports it over ethernet.

#! /bin/sh
. /home/astrobotics/ros_code/devel/setup.sh
#export ROS_IP=localhost
export ROS_MASTER_URI=http://10.0.1.30:11311
export ROS_IP=10.0.1.35
roslaunch autonomous_control autonomous.launch

This works fine for ethernet and fine for WiFi when I change to

export ROS_MASTER_URI=http://10.0.0.30:11311

But it's one or the other. How would I export the Master URI so both networks can use it? Thanks!

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answered 2018-05-07 15:07:49 -0500

Gayan Brahmanage gravatar image

Hi There, I would recommend you to refer following article.

Multi-master ROS systems

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answered 2018-05-07 15:39:39 -0500

duck-development gravatar image

You have to bridge both interfaces. The wifi and the Ethernet so both have excess to ethch other.

https://wiki.debian.org/BridgeNetwork...

Greet

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Asked: 2018-05-07 10:08:57 -0500

Seen: 228 times

Last updated: May 07 '18