ROS Multiple machines /Slave setup joy control,
I am trying to control my robot slave from my master machine using the joy node and ackerman_cmd.. this works fine when I run rescore solely on my slave(no multiple machines) and use the keyboard as input.
Trying to replicate this when i have the master and slave setup seems to not work. i can see the /joy and ackermann_cmd topic on my slave but no control.. doing rostopic echo /ackermann_cmd shows no messages.. although i can see the messages on my master.. Any ideas as to why would be appreciated. Thanks
Are you sure to have set ROS_MASTER_URI and ROS_IP on both machines?
I believe so i can see my lidar data from my slave robot and other data on rviz on my master but i cannot send ackermann commands to the my slave
so to elaborate i can see data from the slave i.e my sensors, map, imu on my master but cannot receive ackermann commands sent from my master to the slave. my view was communication was bidirectional . i can see the topics showing on my slave but no information coming in
Communication is bidirectional, with source/sink aka. Publisher/Subscriber in depth. Apart from ROS_MASTER_URI (the same) and ROS_IP (respective IP/hostname) for each machine, is a node not online or has special parameters that do not apply? Can you double check
rosnode listand/orrostopic list?Heres what my bash file looks like on my master and
export ROS_MASTER_URI=http://localhost:11311/ export ROS_IP=192.20.10.5 export ROS_HOSTNAME=$ROS_IP source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/install_isolated/setup.bash echo "ROS_IP: "$ROS_IP echo "ROS_HOSTNAME: "$ROS_HOSTNAME echo "ROS_MASTER_URI: "$ROS_MASTER_URI
on slave
export ROS_MASTER_URI=http://192.20.10.5:11311/ export ROS_IP=192.20.10.6 export ROS_HOSTNAME=$ROS_IP source ~/catkin_ws/devel/setup.bash source ~/catkin_ws/install_isolated/setup.bash echo "ROS_IP: "$ROS_IP echo "ROS_HOSTNAME: "$ROS_HOSTNAME echo "ROS_MASTER_URI: "$ROS_MASTER_URI
i can see the rosnode list on the slave swell as the topics ackermann_cmd and joy from my master
should my Ros_master_uri be the same?
so i tried rosnode info and it shows
Node [/ackermann_drive_keyop_node] Publications: * /ackermann_cmd [ackermann_msgs/AckermannDriveStamped] * /rosout [rosgraph_msgs/Log]
Subscriptions: None
Services: * /ackermann_drive_keyop_node/get_loggers * /ackermann_drive_keyop_node/set_logger_level
contacting node http://parallels-vm:40139/ ... ERROR: Communication with node[http://parallels-vm:40139/] failed!