ROS_IP is the "poor man's" last resort. : Ok. 159 077 /. service URL is provides address and port of the service. Get the XML-RPC URI of the node with the associated name/caller_id. I spoke at length with @wxmerkt about this on Slack, and it is clear to me that this issue did not show up until you moved to newer versions of our code while nothing else in your setup changed. For posterity, I want to mention that the idea of localhost is one of convention, not standardization. CGAC2022 Day 10: Help Santa sort presents! Have a question about this project? Register the caller as a provider of the specified service. The ROS master URI and Node Host are specified in the "Configure ROS Network Addresses" dialog. The networking code and ROS Transport code did not change; only the ROS Message, controller, and API. Luckily enough, the roscorecommand provides us with that information (consider the output from the roscorecommand above). I will continue to investigate this in an effort to make absolutely sure that we didn't introduce an unintended change to the way the ROS node connections are established. In simple words, I do not want to open and reprogram the robot slave device every time I take my laptop to a new location. ROS_MASTER_URIIPIPROS_IP. Solved: I tried to change the ROS_MASTER_URI value via the web app to http://ros:11311/ http://ros:11311/ but apparently the web app scrambled the As far as I know, you need to update the ROS_MASTER_URI in both devices to the IP used by your machine, otherwise, none of the systems will be able to find the master. ! I am not able to clearly understand the concept of ROS_MASTER_URI. I have a question. ROSJava's API operates on InetAddress and not String so there's not much else we can do. @mauricefallon You put it much more succinctly than I did, and you possibly highlighted why the change happened, namely that for a long time we didn't pull the ROS_MASTER_URI from the environment. However, to my limited knowledge, I am still not able to understand this. I traced my way through this on my local computer and the result of all of that is that if your URI is http://localhost:11311 and your /etc/hosts file isn't crazy, nor is your site's DNS, then the resulting String that we send to ROSJava is actually 127.0.0.1. On the publishing computer, set ROS_HOSTNAME=hostname.local and voila, all published topics will now be advertised as http://hostname.local:33333 which other clients should be able to resolve. Secondly, what are Host names and ROS_IP used for? And if the hostname passed in to create the InetAddress doesn't resolve, then the whole thing would error out. I'm not sure if this is a ROS_HOST issue or what. orb. privacy statement. . It should be set to the XML-RPC URI of the master. If the SROS_KEYSERVER_URI is not set, then this URI will default to that of the ROS_MASTER_URI, with the port set to one bellow (e.g. You signed in with another tab or window. Returns (int, str, [ [str,[str] ], [str,[str] ], [str,[str] ] ]). @Thomas - Thanks! For example, in Python: Language-specific client APIs as well as tools may define convenience methods that make it unnecessary to call these APIs directly. So everytime I go to a new location, I (or someone else) will log into ROS and get the IP address of the ROS master, which can be a laptop or Raspberry PI. Please advice. This means, I need to reprogram it every time I go to a new location? A is running roscore on address http://192.168.1.101:11311 , and running a node, say rospy_tutorials listener.py B is running docker container for some other nodes, say ros_tutorials talker.py. I think we'd prefer not to have to do this, but I'm happy for you to declare this a "won't fix" and to close this issue. Yes you should edit your .bashrc file to import the IP address. So, does it mean that I set ROS_HOSTNAME and export ROS_MASTER_URI="http://192.168.0.100:11311" and the same IPaddress on all the robots and it connects directly without a fuss? I have installed both ROS 1 (neotic) and 2 (galactic) but package path is the same upon checking, Examples of frauds discovered because someone tried to mimic a random sequence. 51k 77k 103k 129k 155k 181k 207k 233k 259k 285k. export ROS_MASTER_URI=http://mia:11311/ export PATH=$ROS_ROOT/bin:$PATH PYTHONPATH Use emptry string to specify all names. but closing. Thank you for the detailed explanation. Instead of using IP I'm guessing you just have to add ROS_MASTER_URI and ROS_HOSTNAME as shown, but you need to modify the IPs to match the IPs you got in the previous command's output. These two variables are provided mostly as workarounds for cases where the network cannot handle the standard DHCP+DNS setup that works on many (even SOHO) routers. You can use hostname or ip for the URI. Subscribe the caller to the specified topic. ROS with rtabmap : can't launch rtabmap tutorial. Unregister the caller as a provider of the specified service. So I could see the threads posted on the host and the auxiliary computer. Great care should be taken when using localhost, as that can lead to unintended behaviors with remotely launched nodes. PHP in Nginx being downloaded instead of rendered?Nginx PHP 2022-02-25 09:30:18 php The matters were true for the master and the slave. How to set environment variables to run ROS project using Qtcreator? This location can be changed by setting SROS_HOME. Some links to resources I found regarding DNS for ROS etc. The ROS2 might have a better solution for what you want, as it already has that network thought for . . Thank you. Use lookupService instead to lookup ROS-RPC URIs. I should be able to change the IP on the laptop and somehow (magically :) work on the robot. The ROS Network Setup can also help (2.3-2.4). I ran Roscore in Master computer than ran turtlesim_node in slave computer. Sometimes the network works correctly, but the operating system complicates things. If you have an Ubuntu computer in the network, it cannot contact LAN hosts by hostnames in the default configuration. Get the XML-RPC URI of the node with the associated name/caller_id. How do I tell if this single climbing rope is still safe for use? Every time the IP address of ROS changes in master, the same IP should be given on the slave device? Connect and share knowledge within a single location that is structured and easy to search. The only requirement for this to work is that all machines run mDNS clients and that the network does not block mDNS discovery. 1.) Ubuntu. Is there a simple way to store change of ROS_MASTER_URI? Reset to default 1 Hi this problem solved for me as follows: i edited sudo nano ~/.bashrc for master and slave computer: Master computer: . If your network supports this ideal case, just set ROS_MASTER_URI=http://the-master-computer:11311 on the non-master computer and that's it. Let ROS_HOSTNAME save the day! Great care should be taken when using localhost, as that can lead to unintended behaviors with remotely launched nodes. Asking for help, clarification, or responding to other answers. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. The ROS Wiki is for ROS 1. This confirms my suspicion that something is happening either in ROS itself or in ROSJava where http://localhost:11311 and http://127.0.0.1:11311 are for some reason not the same thing. Can someone kindly help me with the below? By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. ROS_MASTER_URI bashrc stuff. One robot which runs on ESP32 and connects via WiFi. ROS_MASTER_URI This is to specify the address of master node. in ROB/ihmc-open-robotics-software from featur, the new way of querying the ROS IP has changed to use ROS_MASTER_URI instead of your ini file, Its now necessary to explicitly to export a IP address to ROS_MASTER_URI as a result, Either this is an issue with either ROS and ROSJava where it doesn't see "localhost" and "127.0.0.1" as the same thing, or, Something on y'alls network is screwing with the lookup of. Now the end user will add the credentials and that is permanently saved in ROM until next joystick erase. export ROS_MASTER_URI=http://mia:11311/ PYTHONPATH ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. In addition to receiving a list of current publishers, the subscriber will also receive notifications of new publishers via the publisherUpdate API. All your robots would then have ROS_MASTER_URI=http://hostname_of_your_pc:11311, which would work no matter what IP your PC gets. You can access this in the Simulation tab by selecting ROS Toolbox > ROS Network. But I may have missed something in my code dive so I won't rule that out. The Master API is implemented via XMLRPC, which has good library support in a variety of languages. I'm not sure if ESP32 supports it or not, though. 4.) Are there conservative socialists in the US? So when ever I boot up my machine (or start node) this would always be changed to for example: Yes - add a line to your ~/.bashrc (assuming you're using bash). export ROS_IP = 192.168.137.aaa export ROS_MASTER_URI = http: //192.168.137.aaa: 11311 source /opt/ros/kinetic/setup.bas echo "ROS_IP:" $ ROS_IP echo "ROS_MASTER_URI:" $ ROS_MASTER_URI . Ready to optimize your JavaScript with Rust? Use lookupService instead to lookup ROS-RPC URIs. Port to connect to rostest rosmaster after Indigo, The ~/.bashrc files on both robot and the master machine are set up and sourced. If you change the default master node port, please remember to modify it. On the laptop, there is still no ROS_MASTER_URI setup in bashrc file. 11311 - 1 = 11310) System Data Environment Variables SROS_HOME By default, SROS writes data to ROS_HOME/sros. The call still succeeds as the intended final state is reached. I'd guess that .ini templates had always contained the IP in them and that's why we've never seen this before. I have followed a lot of tutorials and finally able to get it working, but the issue is if I change the network, what will happen? Subgraph namespace is resolved relative to the caller's namespace. Unregistration will only occur if current registration matches. Why is apparent power not measured in Watts? http://hostname:33333. So there is a rather obvious smoking gun. Lookup all provider of a particular service. Can virent/viret mean "green" in an adjectival sense? Register the caller as a publisher the topic. Theoretically, setting this on the publisher should be enough, but if you want e.g. Unregister the caller as a publisher of the topic. Why does the USA not have a constitutional court? Sign up for a free GitHub account to open an issue and contact its maintainers and the community. ROS requires that your PYTHONPATH be updated, even if you don't program in Python! the .msg name. Fails if there is no provider. Great care should be taken when using localhost, as that can lead to unintended behaviors with remotely launched nodes. (default hostname will be stored at ~/.rosdefault) # rossetdefault $ {hostname} # default: hostname=local $ rossetdefault baxter set ROS_MASTER_URI to http://baxter:11311 $ bash $ rosdefault set ROS_MASTER_URI to http://baxter:11311 Which brings me back to my original assumption: An extremely simple self contained example you can run: I'd be curious to see what the results of this are when run on one of your systems that was behaving differently. in the ideal case, the router should keep a local DNS database that is filled with hostnames and the IP addresses they got from DHCP. Regarding my setup, I am no longer using host name or ROS Master. central limit theorem replacing radical n with n. Is there a higher analog of "category with all same side inverses is a groupoid"? Thanks @dljsjr, I think we have discussed this pretty fully. In my case, the ROS master is located at http://finn-ubuntu:11311/. ROSJava cannot resolve localhost to be 127.0.0.1 for some reason - despite it being the default ROS_MASTER_URI. registerService(caller_id,service,service_api,caller_api), unregisterService(caller_id,service,service_api). Retrieve list topic names and their types. Well occasionally send you account related emails. If numUnregistered is zero it means that the caller was not registered as a publisher. Making statements based on opinion; back them up with references or personal experience. Fully-qualified name of topic to register. This API is for looking information about publishers and subscribers. I'll spend another day or two playing with the code just to make sure this is indeed the issue. Check out the ROS 2 Documentation. Wiki: ROS/Master_API (last edited 2014-11-18 13:50:33 by AlexanderGutenkunst), Except where otherwise noted, the ROS wiki is licensed under the. There are too many variables that can interfere with name lookup. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. would work best. Great care should be taken when using localhost, as that can lead to unintended behaviors with remotely launched nodes. publishers, subscribers, and services). Please start posting anonymously - your entry will be published after you log in or create a new account. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. addresses, you'd give hostnames to For this reason, we highly recommend that you do not leverage localhost and rather explicitly use 127.0.0.1 whenever possible. IP /etc/hosts vim /etc/hosts. You have to add that yourself. If you want to go this way, that's where ROS_HOSTNAME comes into play. I took a side route as to not mess up with ROS at all. hostnames to the IPs (and back). If another computer tries to subscribe the topic, it tries to resolve hostname to an IP address and fails. I usualy (more). List of current subscribers of topic in the form of XMLRPC URIs. How to set ROS_MASTER_URI and ROS_HOSTNAME for a universal robot. The call still succeeds as the intended final state is reached. sure the DNS server can resolve the I don't have a good explanation for why this would be the case. I realize that this probably isn't a very satisfying response, so I'm not closing the ticket quite yet. We store this URI object in a configuration structure 192.168..6 is the ip address of Remote computer, that I will run the snap package. I'm still learning ROS and I'm not good. Get list of topics that can be subscribed to. Is it illegal to use resources in a University lab to prove a concept could work (to ultimately use to create a startup). We convert the String that we get either from the .ini file or the environment to a Java URI object, which just handles parsing the String and gives easy access to the protocol, host, port, and context. My snapcraft.yaml is as follows: If numUnsubscribed is zero it means that the caller was not registered as a subscriber. It should be set to the XML-RPC URI of the master. It should be set to the XML-RPC URI of the master. Is there a simple way to store change of ROS_MASTER_URI? IT- 9 487 , 2- . I'm going to continue to investigate what could be the issue with this as it still might be some unintended side effect of our refactor even though the physical network and transport layer code didn't change. Counterexamples to differentiation under integral sign, revisited. I'll spend another day or two on this to see if I can find an appropriate resolution. 2022 . The call still succeeds as the intended final state is reached. Any help is extremely appreciated as I am struggling to get a solution from a week. ROS. We honestly aren't doing that much, and if this is a legitimate bug then it's most likely in the Java standard library or ROSJava. The computer will be its own master. Number of unregistrations (either 0 or 1). ssh. Once it's time to start up ROSJava, we actually do pass in a String and not an InetAddress. This way, I never touch ROS Master, or try to connect directly using HOSTNAME. How can I source two paths for the ROS environmental variable at the same time? There was another method call that I didn't quite follow through on. Did neanderthals need vitamin C from the diet? ROS_MASTER_URI remote-roscore asked Sep 27 '16 Niesky 11 1 1 2 I have two machines A and B in the same network. Retrieve list representation of system state (i.e. If this is zero it means that the caller was not registered as a service provider. Why does the distance from light to subject affect exposure (inverse square law) while from subject to lens does not? your robots and your PC, and then make In case your network does not run this clever DNS+DHCP combination, or if it is buggy, the next option of choice is mDNS (avahi). If ROS_MASTER_URI is not set, it defaults to http://0.0.0.0:11311 (it is sometimes also written as http://localhost:11311, however the default-created ROS master binds to all network interfaces and not just the loopback as localhost might suggest). I made the ROS master-slave setting as follows: Hi this problem solved for me as follows: It seems like a solution i am looking for. This does not return topics that have no publishers. export ROS_HOSTNAME=rosbot.local # THIS LINE IS NOW A COMMENT # export ROS_MASTER_URI=http://gopigo3.local:11311 Close all Terminals, open a new one, and check the ROS_MASTER_URI variable: ROS_MASTER_URI is a required setting that tells nodes where they can locate the master.. Ah, I guess I made an incorrect assumption here, since the master is not usually considered being a node. Sign in Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content. We set up all of our Ubuntu machines with sudo ln -sf /run/systemd/resolve/resolv.conf /etc/resolv.conf which makes hostname resolution via DNS possible (the command enables a different mode of /etc/resolv.conf). The code path for the "parsing" the URIs looks like this: We take the URI that is set, extract the hostname part of it (in this case, localhost), then we use Java standard library calls to look up the InetAddress representation of the given hostname. On a default-configured Ubuntu, you can try contacting other hosts by addresses in the form ofhostname.local. See getSystemState() to get more comprehensive list. to your account, Not explicitly setting the IP address in the ROS_MASTER_URI causes the IHMC API to be unable to hear incoming command messages. 1980s short story - disease of self absorption. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. This has been tested on 18.04 and most pobably also 20.04. I configured the ESP32 to run a captive portal. A clever trick with joystick connected to ESP32 will erase all the previously stored IP address, SSID, Password and Port and open captive portal. registerSubscriber(caller_id,topic,topic_type,caller_api). Fully-qualified name of topic to unregister. Please, also note that if the robot HW allows it, it is always a better idea to run the ROS master (aka roscore) on the robot than on your laptop. registerPublisher(caller_id,topic,topic_type,caller_api). Publishers is a list of XMLRPC API URIs for nodes currently publishing the specified topic. You could probably make a really strong argument that we (IHMC) shouldn't be converting the hostname to an IP address when we set up our ROS nodes, but I'm a bit baffled as to why either ROS or ROSJava (whichever is misbehaving) would treat those things differently as long as your OS's name lookups are working, unless ROS completely ignores all name lookups outside of ROS_HOSTNAME. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. This may not be a better approach (more). How to smoothen the round border of a created buffer to make it look more natural? I have two systems. Will be used for new publisher notifications. GitHub Gist: instantly share code, notes, and snippets. If it's in your ~/.bashrc, it'll be exported every time you open up a new terminal. Find centralized, trusted content and collaborate around the technologies you use most. This page has the details for the environment variables that you ask. Either this is an issue with either ROS and ROSJava . I want this to be the slave device. This API is for looking information about publishers and subscribers. To learn more, see our tips on writing great answers. The Network Address parameter can be set to Default or Custom. I want to be able to quit Finder but can't edit Finder's Info.plist after disabling SIP. services or actions to work, both communicating computers should have this setting, each with its own mDNS hostname. ROSROSUbunturaspbianUbuntuROSraspbianUbuntuLinuxraspbian Raspberry Pi Debian . 3.) The best way to use ROS_IP and ROS_HOSTNAME is not to use them. Related to refreshing the environment, strange is that first call (source setup.bash) didn't setup the variable properly. If ROS_MASTER_URI is not set, it defaults to http://0.0.0.0:11311 (it is sometimes also written as http://localhost:11311, however the default-created ROS master binds to all network interfaces and not just the loopback as localhost might suggest). Why is Singapore considered to be a dictatorial regime and a multi-party democracy at the same time? Now, how is this done? unregisterSubscriber(caller_id,topic,caller_api). Since you'll be working with the physical robot once more, you need to reconfigure the ROS master URI so that it points to GoPiGo3. Master computer: Thanks for contributing an answer to Stack Overflow! So on the "master" computer, just run roscore and you don't have to care about setting ROS_MASTER_URI. i edited sudo nano ~/.bashrc for master and slave computer: topicTypes is a list of [topicName, topicType] pairs. Please start posting anonymously - your entry will be published after you log in or create a new account. This is exactly what I wanted. Hence, we need to set the right environment variable (ROS_MASTER_URI[6]), that indicates where to find the running roscore. If you want edits to this file to take effect in your current terminal, type: Nitpicking: assuming you're using Bash, not Ubuntu ;) (type "echo $0" to know your shell, Bash by default under Ubuntu). I.e. I'm having trouble setting up Ros master-slave. Must be a package-resource name, i.e. (code, statusMessage, [ [topic1, type1][topicN, typeN] ]). (Does not effect outgoing sensor messages). export ROS_HOSTNAME=192.168..6 export ROS_MASTER_URI=http://192.168..28:11311/ source /opt/ros/lunar/setup.bash source ~/my_Workspace/devel/setup.bash Above, 192.168..28 is the ip address of Master compute, which will run roscore. You would also need to make sure ROS_HOSTNAME is configured correctly on all three robots & your PC. I understand your expectation but can't provide any information why this was decided that way. Creation of debian installer from source for custom package, ModuleNotFoundError: No module named 'netifaces' [noetic], No such file or directory error - Library related, Getting custom values in joint_limits.yaml from python, can not run ROS after update from Ubuntu 18.04 to 20.04, How to configure ROS_MASTER_URI & ROS_HOSTNAME, enables a different mode of /etc/resolv.conf, Creative Commons Attribution Share Alike 3.0. Already on GitHub? IP hostname ***** API URI of subscriber to register. API URI of publisher to unregister. Unregistration will only occur if current registration matches. How did muzzle-loaded rifled artillery solve the problems of the hand-held rifle? It should be set to the XML-RPC URI of the master. Its now necessary to explicitly to export a IP address to ROS_MASTER_URI as a result. Please, do some research before running this command on newer versions as the network stack may have different composition. Will they help if creating an alias which I can give to robot? server (which is coupled with / knows Not the answer you're looking for? 2.) At least while I'm still looking in to this. There is nothing anywhere that says that localhost must resolve to 127.0.0.1; it is resolved via hostname lookup just like google.com or my-host.local or whatever else may be running through some combination of DNS and your local hosts configuration. When we start up our ROSJava node, we use the URI object to grab the "host" portion of the URI, and pass that in to InetAddress.getByName(), which asks the operating system to perform a name lookup. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. API URI of service to unregister. rev2022.12.9.43105. Are you using ROS 2 (Dashing/Foxy/Rolling)? I believe that the reason we always use IP addresses by having Java make the calls to do the name lookups is because ROSJava, by default, doesn't integrate with your environment variables and has poor support for the "magic" of ROS Networking, and so systems that might use ROS_IP and ROS_HOSTNAME as a crutch won't always work correctly. After running this command, you can setup ROS_MASTER_URI with default hostname by rosdefault . Restrict topic names to match within the specified subgraph. (My Ros version is Kinetic) main ip: 192.168.137.aaa , slave ip: 192.168.137.bbb. Yes, that is correct. I ran roscore on the master and ran the turtle node on the slave computer and checked if the topic was posted correctly. @mauricefallon I've done a little more research on this using a very small self contained example on my local machine, and I was a little bit mistaken on what's going on but I wasn't too far off base. I was not able to get this detailed explanation till now. Creative Commons Attribution Share Alike 3.0. Then, open your local .bashrc file and comment out the line at the end that specifies the URL where the ROS master can be found: $ nano ~./bashrc . E.g. For the ROS master URI, if Network Address is set to Default, Simulink uses the following rules to . When it is empty, whenever a computer advertises a topic, it tells others the topic can be found on e.g. I believe this was related to Gentoo default tree packages and env was pulled originally in and something remained to cause this. I have manually checked the IP of the laptop and added that in ESP32. the new way of querying the ROS IP has changed to use ROS_MASTER_URI instead of your ini file. By default it is not in the .bashrc file. I could still be wrong). explicitly setting the IP in the URI currently works: the default URI that is set when sourcing ROS does not work: The text was updated successfully, but these errors were encountered: We engaged in further discussion about this on Slack, and it unfortunately has nothing to do with whether it is parsed correctly or not (at least, I'm 99% sure of that. Ubuntu16.04 ROS sudo rosdep init 1.IP IPAddress.com,raw.githubusercontent.comIP 2.Ubuntu sudo gedit /etc/hosts 3. 185.199.108 . However, when I want to send a speed command from the host, the slave does not receive the commands sent by the master. Hyper-VUbuntu18.04 LTS+ROS(melodic)Win10Hyper-VROSHyper -VUbuntu18.04 LTSHyper -VWin10Hyper-V"Windows""Hyper-V" By clicking Sign up for GitHub, you agree to our terms of service and ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. I will check these links and try to understand. Parameters caller_id (str) ROS caller ID node (str) Name of node to lookup Returns (int, str, str) (code, statusMessage, URI) The robot still cannot find the master, rosparam: Can't set parameters on Master, via launch file, Connecting an app rosjava on a ros master pc without internet, Slow pointcloud topic rate with openni_launch, pioneer3-at I dont wnt to use ssh to remotely control robot. unregisterPublisher(caller_id,topic,caller_api). Is there any reason on passenger airliners not to have a physical lock between throttles? We no longer have ROS 1 in our code, we use the ROS bridge, so I'm closing this issue as it has been effectively side-stepped. export ROS_MASTER_URI=http://mia:11311/ PYTHONPATH This answer mentioning using DNS server should help you partially: This is a situation in which a DNS At this point we're outside of anything we have control over. I've run it on my machine and that's the result: Awesome, thanks for doing that @wxmerkt. So when ever I boot up my machine (or start node) this would always be changed to for example: export ROS_MASTER_URI=http://ubuntu:11311 Now it changes always back to default $ echo $ROS_MASTER_URI http://localhost:11311 add a comment 1 Answer Sort by oldest newest most voted 4 We use InetAddress::getHostAddress() to get the String that we pass in to ROSJava. On the other hand, I have a laptop which I want to be the master. how to deal with your DHCP server) 1 export ROS_MASTER_URI=http://&lthostname or ip of your master node&gt:11311 11311 is the default port. So that your laptop reflects such a configuration, open your local.bashrc file and uncomment the line at the end that specifies what URL to point to in order to find the ROS master: Does integrating PDOS give total charge of a system? Datatype for topic. 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