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ROS Multiple Machines
ROS offers to use several computers to run in each nodes that you otherwise would run in a single computer, without changing any code. Here is an overview of that process and outline of what needs to be done.
The tutorial is at the ROS website. The requirements are to have all computers in the same network, all ports available, and the IP of everyone. There isn't any configuration or adjustment beforehand, you can decide in any moment to use 1, 2, 3, etc. number of machines. Only the terminal variables (i.e. using export) are needed before running a node and for each terminal.
There is a script to setup each computer.
Notes:
- This doesn't seem to work with VM, because others can't even ping it.
Master
- It does not need to set any variable:
MASTER_URI
norROS_IP
. - Only to run
ROSCORE
.
No masters
- To not run
ROSCORE
. - Set terminal variable
ROS_MASTER_URI
with the master's ip or hostname with the port 11311, i.e.:http://master_host:11311
orhttp://ip.ma.st.er:11311
Publishers/talkers
- Also needs to set variable
ROS_IP
of that computer, i.e.:its.own.i.p
orits_hostname
.
Susbcribers/listeners
- Doesn't need anything else.
An option is to use one computer (desirable the master) as a hotspot to others machines. Ubuntu enables this option in the WiFi options.
- To set the address of the hotspot (master with
ROSCORE
) check this to setaddress1
, that in general will automatically be the .1 ip. - To assign by the MAC a static IP to each device check this for the hotspot computer.
- To enable using hostnames instead of the IPs, check the additions to the
hosts
file in the hotspot computer here.