Welcome to ROSMASTER X3 Plus repository

4.Multi-machine communication configuration

Note: You must know the robot's IP before logging in remotely, which can be displayed through an external monitor or OLED.

For example, the following figure: Username [jetson], hostname [yahboom].

4.1. Configuration

Require:

• All masters are on the same network
• Choose one as the master, and all others are slaves
• Install ssh and chrony packages on each device for synchronization

sudo apt-get install chrony openssh-server

For example: jetson nano is the host, the virtual machine is the slave, and the IP of jetson nano is known.

Next just modify the .bashrc file of the slave machine (virtual machine).

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sudo vim ~/.bashrc

Add at the bottom, the [IP] here refers to the IP of [jetson nano].

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export ROS_MASTER_URI=http://IP:11311

After setting the IP, it is best to refresh the environment variables.

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 source ~/.bashrc

Modify the /etc/hosts file,

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sudo vim /etc/hosts

Add another machine’s IP and name

After modification, save and exit. Both ends of the virtual machine and the car need to be set as above.

4.2. Effect demonstration

Note: ROS Master must be started on the host.

Use ssh to remotely log in to the jetson nano and start rosmaster

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roscore

ubuntu(virtual machine)

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rosrun turtlesim turtlesim_node 
rosrun turtlesim turtle_teleop_key