Wifi Network
We assume you are running an ubiquity distribution, change the IP addresses accordingly
This depends on the configuration of your LAN. A tool to investigate can be ipscan
- Note: that if our network is using DHCP the address can change from time to time
- Note: using Zeroconf or similar, not easy because the IP address will change all the time. Use a static schema instead.
NOTE: Here we assume you have using the ubiquity flash.
On a Pi3, our image comes up as a Wifi access point.
- **SSID **is ubiquityrobotXXXX where XXXX is part of the MAC address.
- The wifi password is robotseverywhere.
- IP address is 10.42.0.1
If you are not running on one of ubiquity robots run
sudo systemctl disable magni-base
to ensure that startup scripts get disabled.
Configure your ROS network so your development computer knows where the ROS Master(robot's computer) is within your local network. First, find out the IP-addresses of your embedded system (Pi) and development computer (ROS enabled PC):
ifconfig
expect something like (in this example, a robot via wifi as explained above)
wlan0 Link encap:Ethernet HWaddr b8:27:eb:d8:eb:98
inet addr:10.42.0.1 Bcast:10.42.0.255 Mask:255.255.255.0
inet6 addr: fe80::ba27:ebff:fed8:eb98/64 Scope:Link
etc. So in this case robot-ip would be 10.42.0.1
Embedded Platform:
echo "export ROS_MASTER_URI=http://<robot-ip>:11311" >> ~/.bashrc
echo "export ROS_HOSTNAME=<robot-ip>" >> ~/.bashrc
source ~/.bashrc
Example of network config
Development computer:
echo "export ROS_MASTER_URI=http://<robot-ip>:11311" >> ~/.bashrc
echo "export ROS_HOSTNAME=<devcom-ip>" >> ~/.bashrc
source ~/.bashrc
Take note that once the ip-address of the machine has changed, you need to reconfigure your ROS_MASTER_URI and ROS_HOSTNAME again.