/
ryan_notes_for_mk.txt
62 lines (58 loc) · 3.06 KB
/
ryan_notes_for_mk.txt
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1) Situation in which NUC master_discovery cannot discover zilker-hsrb master
### Need to follow steps of whiteboard Resources->3->Section 2.1 only
### After that, Follow the step by step instructions of ROS-systems.pdf
section 3.2 READ CAREFULLY EACH STEP. Note that this document overlooks the
ip_forwarding. After those steps do not forget the `sudo service procps
restart`. THEN:
- On HSR:
- Terminal 1
`sbws`
`epuri`
`rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1`
- Terminal 2
`sbws`
`epuri`
`rostopic echo /master_discovery/changes` ### This will tell you the
name and uri of each ros master that HSR's copy of master_discovery
can see ### Note this will not discover the NUC roscore until you have
started NUC's copy of master_discovery
- On NUC:
- Terminal 1
`uws`
`epuri`
`roscore`
- Terminal 2
`auws`
`epuri`
`rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1`
### At the time of this writing, you will see that NUC cannot discover
the HSR Master. To double check, you can try the similar instructions
to `rostopic echo /master_discovery/changes`
2) Once both master_discovery nodes recognize each other, we need to continue to follow the ROS-Systems.pdf
(Note above we are following along the instructions at the beginning of
section 3.3 of that pdf). This means we will run the master_sync.
- i.e. in another terminal of each computer (HSR, NUC) source and epuri as
before, and then run `rosrun master_sync_fkie master_sync`
- Next, we need to test that the sync is working
- In one computer, publish the test topic `rostopic pub -r 1 /test
std_msgs/Int32 1` ... In the other, `rostopic list |grep "test"
- Now, run the topic in the other computer and make sure you can see it
from the other.
- Now our master sync is working and the network is properly configured
3) As just stated, the master discovery and sync are working. Now we need to
test the launch files Ryan made. Note that this repository has an a1 branch
and an hsr branch. The launch file
master_sync_fkie/launch/master_sync.launch is THE ONLY DIFFERENCE between
the two. The setup is designed with the assumption that the
multisearch_action and all related nodes (i.e frontier_server, etc.) are
running on the NUC.
- Information the NUC Master needs from HSR:
- /dynamic_obstacle_map, a topic published by /base_path_planner
- /global_pose_hsr, a topic published by /non_markov_localization
- Information the HSR Master needs from NUC (i.e. needs from the
multisearch_action)
- Some sort of GOAL, which is left to Minkyu to configure properly. The
important piece here is that the multimaster setup is under the
assumption that the the only NODE running on the NUC that the HSR needs
access to (i.e the NODE that is publishing the GOAL topic) is the
multisearch_action (search_service/scripts/map_manager.py)