Unable to subscribe to topics published by Husky
I'm fairly confident this is a networking issue, but not sure exactly how to fix it. If I publish to a topic myself on the Husky, I can subscribe to it from a client. However, I can't subscribe to topics that the Husky creates during startup. For instance, when ssh'd into the Husky, I can use rostopic hz /imu/data and I see that the data is being published. However, if I do the same on the client, I don't get any information.
On the client (~/.zshrc), I have set the following information:
. /opt/ros/melodic/setup.zsh
export ROS_IP=10.10.10.115
export ROS_MASTER_URI=http://10.10.10.111:11311
On the Husky (~/.bashrc) I have set the following:
. /opt/ros/melodic/setup.bash
export ROS_IP=10.10.10.111
In the Husky's /etc/ros/setup.bash, I have the following:
# Mark location of self so that robot_upstart knows where to find the setup file.
export ROBOT_SETUP=/etc/ros/setup.bash
# Setup robot upstart jobs to use the IP from the network bridge.
# export ROBOT_NETWORK=br0
# Insert extra platform-level environment variables here. The six hashes below are a marker
# for scripts to insert to this file.
######
export LCM_DEFAULT_URL=udpm://239.255.76.67:7667?ttl=5
export HUSKY_IMU_XYZ='0 -0.15 0.065'
export HUSKY_IMU_RPY='3.1415 0 0'
export HUSKY_LASER_ENABLE=1
# Pass through to the main ROS workspace of the system.
source /opt/ros/melodic/setup.bash
# I added this in an attempt to make things work
export ROS_IP=10.10.10.111
source /home/administrator/startup_ws/devel/setup.bash
export HUSKY_LOGITECH=1
export HUSKY_JOY_DEVICE=/dev/input/js0
export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
Here are the values of various environment variables:
eric@cpr-mic09:~$ echo $ROBOT_NETWORK
eric@cpr-mic09:~$ echo $ROS_IP
10.10.10.111
eric@cpr-mic09:~$ echo $ROS_HOSTNAME
I would really appreciate any advice. Thank you!
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