Tips & Tricks

⚠️ Adapt tiago-155c to your TIAGo's id ⚠️

ROS_INFO_STREAMS on the TIAGo

rosconsole

The parameter -l select the logger level (debug, info, warn (default), error, fatal):

rosconsole echo -l info

Once you have spotted the name of the logger where your outputs originates from (here /rtt_deployer), you can add a FILTER:

rosconsole echo -l info /rtt_deployer

rostopic

rostopic echo -p /rosout/msg

Shared roscore

To create a shared roscore between the TIAGo's computer and the TIAGo. On the TIAGo's shell, add the hostname to the local DNS (adapt to your case):

addLocalDns -u development -i 10.68.0.128

Then on the development computer you will be able to share the TIAGo's roscore with:

export ROS_MASTER_URI=http://tiago-155c:11311
roscore

💡 since the roscore will be the one on the TIAGo, if you want to launch applications on the development computer (such as a Gazebo simulation), open a new terminal !