Node configuration method for distributed control of ROS robot operating system

MASTER Settings

the whole system only needs a master, select a machine to run Master to provide topic addressing, parameter server and other functions. All nodes must be configured to use the same MASTER through the environment variable Ros_master_uri.

Master Setup method:

Export ros_master_uri= "http:/wsh:11311"

where WSH is the name of my computer, my computer is master, and other computers enter this command at the terminal to connect to master. You can set it by using the IP and computer name bindings described below.

SSH Secure connection Settings Full bidirectional connection

Between machines, and between all ports, there must be complete, bidirectional connectivity. SSH client is installed by default on Ubuntu, but does not include server side and needs to be installed manually.

Sudo Apt-get Install Openssh-server

If you want to remove the manual login process, you also need to generate a key pair and upload to the server side:

Ssh-keygen Ssh-copy-id [email protected]

Name Address binding

there must be a mechanism for each node's name (hostname) and its IP address to bind each other. Add machine name bindings in/etc/hosts, in the following format:

IP hostname hostname

sudo gedit/etc/hosts add Master's IP

192.168.3.102 WSH

In the same master, add the IP of the computer to which you want to connect this master, such as Yxd

192.168.3.102 Yxd

env.sh environment variable settings

use the env.sh file to set the desired environment for the machine running node , as follows:

#!/bin/sh Export Roslaunch_ssh_unknown=1 #export ros_master_uri=wsh ./opt/ros/indigo/setup.sh exec "[Email protected]"

Other SettingsChange machine name

You can change the computer name of the running node if necessary. You can change it in/etc/hostname.

static IP address binding

due to the need to bind the computer name and IP in /etc/hosts , it is best to set the IP address as the static address.

Node configuration method for distributed control of ROS robot operating system