192.168.1.11), Server laptop (IP: 10.9.11.1 and 192.168.1.12). Search instead for. This node creates a Spacebrew client and also start a ROS service called /send_data, that is responsible for sending the information to the remote device. m2 = ros.Core (12000); Launching ROS Core. Copyright 2018-2022 Shadow Robot Company. This is currently the only topic published by android_sensors_driver. I have got a question about running ROS on several machines. Could you be more specific about what you did, though? Since you can ping the master but a subscriber can't subscribe to a topic, this shows that probably the master computer (in your case RaspberryPi) don't accept remote connections but only local. The syntx is also the same than most of the rosservice commands. export ROS_HOSTNAME=robot, I have added the IPs of robot and remotePCo /etc/hosts. netsh interface portproxy delete v4tov4 listenport=$port listenaddress=$addr But here comes a new question: The nodes which use TCPROS to communicate with each other have a random PORT every time I launch the file. Any other ideas? Open a second terminal to run your node. Check out the ROS 2 Documentation. Specify the address, user name, and password of your specific ROS device. To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification When calling this package in ROS, the user has to use := instead of @, but since := is a reserved Python command, it was not possible to use it in the project, so it was necessary to change into an @ and them, internally, make ROSRemote change to the correct one. Now let's get back to the ROS Master (PC) and connect to the camera. The first step needed to connect to your ROS Master is setting up the proper environment variables. How can I launch rviz on a remote machine ? ROSRemote was created to help user to easily control a robot on cloud. Using the cmd_vel example, the user can send the command to recover the cmd_vel information. * /hlds_laser_publisher->/rviz_1602065662574712563 (/scan) Keep the following things in mind: You only need one master. After starting the RosAria, the user needs to find out what is the name of the topic that the robot publishes, in the testes made in ROSRemote, the topic name was Rosaria and that is the name needed to set the robot that will receive the commands. The cause is that the services on the remote machine are not accepting remote connections, only local. ).Raspberry Pi 4B with Raspbian 64 already installed Connection to the Internet. Connect to a remote ROS device and start a ROS node. I have added the hostname and the topics immediately started to show their data on the remote PC. When I tried roswtf it tells me: Depending on how the system is configured, any node may need to communicate with any other node, at any time. A paper named ROSRemote, using ROS on cloud to access robots remotely was presented at ICAR 2017. Open a new terminal window and connect to ROS Slave, and find out which camera address to use: Publishing 3D centroid and min-max values, How to create rviz tool plugin like 2DPose estimate, ROS remote master: can see topics but no data, Creative Commons Attribution Share Alike 3.0. Cannot import custom message using rospy (Groovy) [closed], Not able to compile a .msg using pcl_msgs type variables, rossrv md5 and gendeps --md5 differs in groovy [closed], Can't find moveit_benchmark_statistics.py, roscd: command not found (in groovy 12.04). To connect additional computers with ROS to server laptop and NUC ROS network (to control and see data from the hand/arm), it is only necessary to have the server laptop and the additional non-Shadow computer with ROS on the same network. For the purpose of this development, it was used RosAria teleop. As described before, not all ros features were introduced in this package, but some of the most important ones were implemented. I have to do some command like below in order to make everyone in LAN communicate with the specific host:PORT on WSL2. Configure ROS_MASTER_URI on the host (mobile robot). I have a stereo camera that publishes a RGB image as well as a depth one. Package Summary ROSRemote is a framework that helps users to control remote robots and recover information from them as well as from remote masters. The last thing the user needs to do to connect the devices is open the Spacebrew Web Admin Tool and connect the clients, this tool is opened by typing the server URL in the browser. . As a result, ROS has certain requirements of the network configuration: Package Summary ROSRemote is a framework that helps users to control remote robots and recover information from them as well as from remote masters. Use this screen and enter the ROS_MASTER_URI you wish to connect to. On the client machine, not running roscore, there's two things you need to do. After the connection is made, all the user has to do is type the ros command in quotes preceded by the calling of the /send_data service. The ROS Wiki is for ROS 1. The server laptop acts as the ROS MASTER. I downloaded ros-indego in linux 14.04 and I followed this link in order to publish the position of the phone to ros : connecting to a ros master The ROS Master must be running before any ROS nodes can function. You can run and stop a ROS core or node and check their status using a rosdevice object. There must be complete, bi-directional connectivity between all pairs of machines, on all ports (see ROS/NetworkSetup ). Since ROSRemote publishes directly on the cmd_vel of the robot to make it walk, the user needs to set this name to make the ROSRemote work. In the ssh terminal, run the launch file kinect_left.launch directly as: roslaunch openni_launch_marvin . Getting video from ROS slave. Connect separate ROS nodes to each ROS master. Wiki: android_sensors_driver/Tutorials/Connecting to a ROS Master (last edited 2012-01-07 03:38:44 by ChadRockey), Except where otherwise noted, the ROS wiki is licensed under the. where "robot-desktop" is the hostname of the master machine. I've run into the same issue and every time it was caused by messed up /etc/hosts file and/or lack of the ROS_IP export. Create two ROS masters on different ports. The Third computer will be connected to your home/office network and will have a similar IP address (e.g. Create a connection to a ROS device. Your ROS nodes may fail to communicate. The wrong PC address is configured on the teach pendant. Done in 0.37952 seconds. Wiki: ROSRemote (last edited 2017-12-11 18:37:10 by AlysonPereira), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/alysonmp/ROSRemote.git. It is possible to send common ROS commands like "rostopic list" to a remote master and recover all the topics it is publishing at the time. Rosservice is designed to get information and start services running in a device. In order to use this command in ROSRemote, the user needs to insert the following. You can run and stop a ROS core or node and check their status using a rosdevice object. Its syntax is the same as the rostopic echo but in this case it is not necessary to send the publish rate. This should be the answer. PC1: 192.168.1.2 Yeah, I tried everything else in the other answers. Hi everyone and thanks for your answers. To do so, it was used SpaceBrew framework that helps creating connections between two or more devices by finding their public IPs and establishing a connection among them, this connection is done through a server that can be easily implemented by the user, in case he/she does not want to use the free SpaceBrew server. The Third computer will then get an IP in the same network as the Server laptop and the NUC (e.g. ERROR Could not contact the following nodes: It was because the node running roscore had a hostname and that hostname was not added to the /etc/host file or the remote PC. Shadow is a registered trademark of The Shadow Robot Company Ltd. Every computer needs to be able to talk to (test e.g. Rostopic echo returns to the user what a certain topic is publishing. GStreamer is an open-source multimedia framework written in C using the GObject framework. Here's the condensed version of what's going on: Initialize the ROS system ; Advertise that we are going to be publishing std_msgs/String messages on the chatter topic to the master. YOU HAVE BEEN WARNED! 192.168.1.12). To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification * service [/hlds_laser_publisher/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/hlds_laser_publisher/set_logger_level], address [rosrpc://robot:53743]. When I try 'rostopic echo /scan' on the robot I can see the data - so it definetly should work! Run a ROS core so that ROS nodes can communicate via a ROS network. After that, the user needs to start the package that has the service needed to send the information, tha package is called cloud_ros and the main file, that starts the node, is main_cloud_ros. I want to visualize the lidar data of the robot in rviz on my remote PC. Via ROS Slave. Then run your python code with rosrun and it will connect to the remote roscore. All ROS_IP, ROS_MASTER_URI settings were fine, I did see the topics but when subscribed no message came through. I just don't get it. See the Software Description > Software description of the Hand > Command line interface. All the existing features will be demonstrated in the next sections, as well as a brief tutorial on how to use them in ROSRemote. The fisrt thing the user needs to do is to connect to the remote robot using ROSRemote and RosAria, in this case, the command is. In a previous exercise, we added a line to our .bashrc to automatically source devel/setup.bash in new terminal windows This will automatically export the results of the build into your new terminal session. At the moment of writing, the master branches from both pygobject and gstreamer . To test connectivity to the Android device, try: You should see something like the following if it's successful: Somewhere in the list of rostopics you should see /android/fix. On the remote PC, apply the following settings before running your application: Then try to access robot topics on your remote PC. Select one machine to run it on. SOLUTION 3: Using VPN Container + Multiple ROS containers. In order to use ROSRemote first it is necessary to start the master on all devices that the user want to connect, it includes robots and computers. The syntax of this functionality is almost the same as the rostopic list. * /hlds_laser_publisher, ERROR The following nodes should be connected but aren't: I simple used roswtf and realized that it can't find hostname. Run these two commands on the remote PC echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/.bashrc echo export ROS_HOSTNAME=IP_OF_PC >> ~/.bashrc Then, launch the keyboard control on the remote PC: roslaunch turtlebot_teleop keyboard_teleop.launch Press the keys listed in the terminal and move the turtlebot around. Done in 0.3789 seconds. So i added this host to '/etc/hosts'. 2828 Cherokee Cove SW Stone Mountain, GA 30087. First, you need to make sure that ROS nodes are able to connect to the master by specifying ROS_MASTER_URI: export ROS_MASTER_URI=192.168.1.1:11311 Second, you need to make sure that nodes running on the remote machine can also access topics published on the local machine, by setting ROS_IP to something different than 127.0.0.1, so: I hope somebody can help me with this network configuration issue.. checking here (http://wiki.ros.org/ROS/Tutorials/Mul, at the end) Seems like could be that you forgot to define ROS_IP, You can define ROS_IP either with export ROS_IP or with export ROS_HOSTNAME, Assume robot IP is = 192.168.1.10 and remote PC IP is 192.168.1.20 Server laptop, hostname: serverhostname (replace it with the actual hostname in these instructions) (IP: 10.9.11.1), Third computer, hostname: thirdcomputerhostname (replace it with the actual hostname in these instructions). Specify the address, user name, and password of your specific ROS device. Anyone have success connecting WSL2 to a remote robot. Rostopic is designed to get information about the topics running on a device, in the features implemented in ROSRemote includes rostopic list, rostopic echo and rostopic info and they are explained next. The lack of data means that your client can see the ROS master, but cannot connect to the topics on the remote machine. by ping) each other (from/to) using whatever name this is known by to ROS. I'm having the same problem and any help would be wonderful. It is possible to send common ROS commands like "rostopic list" to a remote master and recover all the topics it is publishing at the time. Are you using ROS 2 (Dashing/Foxy/Rolling)? In the features implemented in ROSRemote includes rosservice list, rosservice args, rosservice call, rosservice node, rosservice type and they are explained next. Once you have the IP address, use it to set the ROS_MASTER_URI environment variable. Something trying to get access to rosmaster by hostnames from my local machine. To do this, you'll first need to determine your IP address for the network that your Android device and ROS master will share. In ROS2 DDS communication, ROS_DOMAIN . I solved my problem by adding both machines' hostname to /etc/hosts. Just refer to the strings in ~/.bashrc? (Because ros node ssh not the linux ssh, so it must choose rsa way.) On your Android device, connect to the wireless access point associated with your ROS_MASTER_URI. Once you have the IP address, use it to set the ROS_MASTER_URI environment variable. To connect additional computers with ROS to server laptop and NUC ROS network (to control and see data from the hand/arm), it is only necessary to have the server laptop and the additional non-Shadow computer with ROS on the same network. This behavior can be overridden with the reuse-master flag, and then the standard ROS_MASTER_URI will be used for the test. Guide to Cross Compiling on a Raspberry Pi. The most often used protocol for connection is the standard Transmission Control Protocol / Internet Protocol ( TCP / IP) or Internet Protocol called TCPROS in ROS. here are the complete setup : I am using Matlab 2017B on my host machine, also have Ubuntu 16.04 LTS and ROS kinetic running on Virtual machine (Virtualbox). Usually this can happen when. or else the HDMI port of the Raspberry Pi will be disabled. To connect to a ROS master running on host name master_host and port 12000, use the following command: rosinit ( 'master_host' ,12000) If you know the entire Uniform Resource Identifier (URI) of the master, you can create the global node and connect to this master using this syntax: rosinit ( 'http://192.168.1.1:12000' ) Node Host Specification The ROS Wiki is for ROS 1. Not all ros features were already implemented, but can be done in the future. ROSRemote is simple and only use one node to work. 10.9.11.5). But when I enter "rostopic echo /someTopic", it only works for PC2. ROS remote master: can see topics but no data, Creative Commons Attribution Share Alike 3.0. I've been fooling around with WSL2 lately, trying to subscribe to ROS2 topics from my robot. A running ROS system can comprise dozens, even hundreds of nodes, spread across multiple machines. For example running this on the robot board: rostopic pub /robot/str std_msgs/String "Hello there". The first step needed to connect to your ROS Master is setting up the proper environment variables. I solved this problem. * /hlds_laser_publisher->/rosout (/rosout), ERROR Errors connecting to the following services: export ROS_HOSTNAME=remotePC, robot: Now, you are ready to launch the file from your remote terminal. Have you set ROS_IP or ROS_HOSTNAME? PC2: 192.168.1.3 In order to run ROS, the devices must have a master instance running on them, so, ROSRemote are able to connect two masters through SpaceBrew, as shown in the figure below. Hello everyone. In ROSRemote, if the user wants to, it can call the /send_data service in a remote device, it is not necessary since one can connect to which device is wanted, but to exemplify, users can use the command to call itself in a remote master and send any command, like rostopic list, for instance. echo Using ROS MASTER at $ROS_MASTER_URI from $ROS_HOSTNAME. ROS MASTER and connecting additional computers, On the Third computer (and also in the Third computer Docker container if using Docker on the Third computer). Also new developers can create their own application using ROSRemote to run on cloud and access remote devices. The syntax is also simple and very similar to rostopic echo, but instead of sending the topic name, the user sends the service name. Then users are already able to send teleoperational commands to the robot by using the arrow keys on keyboard, just like it would do if the robot was in a local network. Now my problem is that I can see with 'rostopic list' the topic /scan but when I try 'rostopic echo /scan' on my remote PC nothing is published. Maintainer: Alyson Benoni Matias Pereira , Author: Alyson Benoni Matias Pereira , Guilherme Sousa Bastos , Source: git https://github.com/alysonmp/ROSRemote.git (branch: master). Revision 3e1848d9. So let's run all three ROS 2 Nodes we have in the project in separate Docker containers, keeping the system configuration simple and transparent. On the robot (the ROS master) run the following commands and then run roscore and any ros node. Please start posting anonymously - your entry will be published after you log in or create a new account. ROCON Multi-Master Framework ROS over Multiple Machines Setting up WiFi hotspot at the boot up for Linux devices Simulation Building a Light Weight Custom Simulator Design considerations for ROS architectures Spawning and Controlling Vehicles in CARLA NDT Matching with Autoware Interfacing Myo Blink(1) LED micro-ROS for ROS2 on Microcontrollers The reverse port has been altered on the ROS side, but not on the robot. The syntax is the same as the one in the rosservice args, but the user needs to change args by call. Further more, all PCs can ping each other and it is possible to establish ssh connections. Matlab cannot connect to ROS master on virtual machine. The normal way is: You have to set the ROS_MASTER_URI and ROS_HOSTNAME environment variable in the terminal according to https://wiki.ros.org/ROS/NetworkSetup. But assuming that the user would do that, just for example purposes, the syntax would be. All nodes must be configured to use the same master, via ROS_MASTER_URI. Create a connection to a ROS device. You can disable your firewall for a quick test: It was the firewall. The tutorial about ROS remote says, that it is only necessary that the PCs can ping each other and that nothing else except "ROS_MASTER_URI" needs to be configured. As mentioned at the beginning, it is a good practice to keep a single Docker container as lean as possible. I have already read through several threads like this but couldn't figure out what my issue is.. They make possible a huge range of applications to be created and there is also the possibility for the user/developer to create more, increasing the usability of the package. However, when I try to visualize them from my remote PC, I'm not able to (I keep receiving as if there is no data). Hello. In the next example the user is calling the command rostopic list and will receive the answer from a remote master or robot. I can retrieve the message on my PC with: The problem arises when the topics are of type sensor_msgs/Image. Is Pose View in rqt buggy or not finished? Please start posting anonymously - your entry will be published after you log in or create a new account. So, you should select the IP of your machine on the internal network, or listen on any interface: export ROS_IP=0.0.0.0 # Listen on any interface, export ROS_IP=192.168.1.1 # Listen on 192.168.1.1. 3rosdep update. On the robot (the ROS master) run the following commands and then run roscore and any ros node source /opt/ros/melodic/setup.bash export ROS_MASTER_URI=http://192.168.1.10:11311 export ROS_IP=192.168.1.10 On the remote PC, apply the following settings before running your application: To connect the Third computer to the same network as the server . Remember that only one devices can run ROS Master. you just need to be able to ping between the machines. Differently from rostopic list, where the user just need to send the command, in echo it is necessary to send the topic name and also the publication frequency. link Comments I just spend the entire day trying everything! Master is my remote PC -> bashrc network configuration is like the following: remotePC: Since then, everything works fine. ROS2 Network Configuration. Rostopic list returns to the user a list of all currently published topics. Finally, you can debug the output of the driver by: However, be aware the driver will not publish a message until GPS on your device has acquired a fix (the GPS Icon on your phone will have the solid center). The actual problem here is network resolution. There is a firewall blocking access on the ROS machine. This usually occurs when your hostname, e.g. Are you using ROS 2 (Dashing/Foxy/Rolling)? In reality, this is necessary because there may be multiple getaways available and ROS simply wouldn't know which one to use. Connect ROS nodes to each master based on how you want to distribute information across the network. Alternatively, the user can send an extra parameter to the command to recover the srv file of the service, in case this service was developed by a user and uses a srv that was created by him/her. Build SSH Connection Between Local And Remote: The way roslaunch-nodes works, needs a valid ssh-connection between the local and the remote machines. The only package that the user can not start remotely is the ROSRemote package, because it already has to be running on the remote machine. export ROS_MASTER_URI=http://remotePC:11311 For example if you are connecting robot and laptop, run roscore only on one of those two devices. Run a ROS core so that ROS nodes can communicate via a ROS network. Start the hand using icons on the server laptop. Rosrun is designed to start a package in ros, the same way the user can start a package remotely by using the simple command. What finally solved my problem was adding all PCs with their hostnames and IP Adresses to the "/etc/hosts" file. The ROS machine is not reachable on the device that the port is opened for (this can happen for example in a VM/Docker NAT situation. Your no longer require a separate launch file. Rostopic info shows the information about topics, such as the node that is publishing it. When you run the android_sensors_driver app, the are presented with is the master chooser. This will start RosAria on the robot connected in the IP given by the user. Thank you guys for your help ! ROS_MASTER_URL; 1. Make sure the server laptop hostname (serverhostname) is present exactly twice in the server laptop local machine /etc/hosts: Also make sure the Third computer IP is present in this /etc/hosts file: You can start a container terminal by clicking on 1 - Launch Server Container in Shadow Advanced Launchers), make sure the name server laptop hostname is also present exactly twice in the /etc/hosts of the container: Make sure the third computer hostname (thirdcomputerhostname) is present exactly twice in the third computer /etc/hosts: Also make sure the server laptop is present in this /etc/hosts file: Run the following command in the Third computer (or inside its Docker container if using Docker): Connect an ethernet cable from your home/office router to the Server laptop or connect the server laptop to your home/office wifi. 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