Welcome to ROSMASTER X3 repository

4. Multi-machine communication configuration

Note: Before logging in remotely, you must know the IP of the robot, which can be displayed on an external monitor or OLED.

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

4.1. Configuration

Require:

• All masters are under the same network

• Choose one as the master, the others are all slaves

• Install ssh and chrony packages on each device for synchronization

x
#Raspberry Pi 5 master needs to enter docker first, please perform this step
#If running the script into docker fails, please refer to the ROS/07.Docker tutorial
~/run_docker.sh

​x
sudo apt-get install chrony openssh-server 

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

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

xxxxxxxxxx
sudo vim ~/.bashrc 

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

xxxxxxxxxx
export ROS_MASTER_URI=http://IP:11311 

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

xxxxxxxxxx
 source ~/.bashrc 

4.2. effect demonstration

Note: ROS Master must be started on the host.

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

xxxxxxxxxx
roscore 

ubuntu (virtual machine)

xxxxxxxxxx
rosrun turtlesim turtlesim_node  
rosrun turtlesim turtle_teleop_key