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ROS1/2機(jī)器人多機(jī)網(wǎng)絡(luò)通信配置-更新-2022
2022-05-11 11:07:15


2016年ROS1:在多臺(tái)PC上進(jìn)行ROS通訊(在多臺(tái)遠(yuǎn)程機(jī)器人或電腦上運(yùn)行ROS)

2019年ROS2:ROS2網(wǎng)絡(luò)多機(jī)通信DDS和安全加密SROS(多機(jī)器人系統(tǒng))


ROS2配置非常簡(jiǎn)單,注意事項(xiàng)為:如果是局域網(wǎng),只需確保ROS_DOMAIN_ID一致即可。

如果是單片機(jī)需要micro-ros:

esp32與ros2的歡樂(lè)啟程?

micro-ROS之esp32與ros2資料(freertos)


本文補(bǔ)充內(nèi)容:x86和ARM,樹(shù)莓派通用,類(lèi)似pc+pc模式的ROS1。

主機(jī):

ROS1/2機(jī)器人多機(jī)網(wǎng)絡(luò)通信配置-更新-2022_多機(jī)器人系統(tǒng)


從機(jī):

ROS1/2機(jī)器人多機(jī)網(wǎng)絡(luò)通信配置-更新-2022_機(jī)器人操作系統(tǒng)_02

使用工具multimaster-fkie:

ROS1/2機(jī)器人多機(jī)網(wǎng)絡(luò)通信配置-更新-2022_機(jī)器人操作系統(tǒng)_03?

為了保證配置順利,需要仔細(xì)閱讀原英文文檔!

功能包安裝:

ros@ros:~$ sudo apt install ros-noetic-fkie-
ros-noetic-fkie-master-discovery
ros-noetic-fkie-master-sync
ros-noetic-fkie-message-filters
ros-noetic-fkie-message-filters-dbgsym
ros-noetic-fkie-multimaster
ros-noetic-fkie-multimaster-msgs
ros-noetic-fkie-node-manager
ros-noetic-fkie-node-manager-daemon
ros-noetic-fkie-potree-rviz-plugin
ros-noetic-fkie-potree-rviz-plugin-dbgsym
ros@ros:~$ sudo apt install ros-noetic-fkie-

ros@ros:~$ rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111]

[INFO] [1652091021.942514]: ROS Master URI: http://localhost:11311

[INFO] [1652091021.966031]: Check the ROS Master[Hz]: 1

[INFO] [1652091021.970818]: Heart beat [Hz]: 0.02

[INFO] [1652091021.974751]: Active request after [sec]: 60

[INFO] [1652091021.978513]: Remove after [sec]: 300

[INFO] [1652091021.980809]: Robot hosts: ['192.168.8.111']

[INFO] [1652091021.982873]: Approx. mininum avg. network load: 2.72 bytes/s

[INFO] [1652091021.994576]: Start RPC-XML Server at ('0.0.0.0', 11611)

[INFO] [1652091021.998362]: hide_nodes: []

[INFO] [1652091022.001659]: hide_topics: []

[INFO] [1652091022.005370]: hide_services: []

[INFO] [1652091022.007446]: Subscribe to parameter `/roslaunch/uris`

[INFO] [1652091022.134259]: Detected master discovery: http://192.168.8.100:11611

[INFO] [1652091022.242523]: Added master with ROS_MASTER_URI=http://192.168.8.100:11311/



需要配置正確,可以參考官方和相關(guān)博客!?

常見(jiàn)問(wèn)題:

github.com/fkie/multimaster_fkie/issues/144

ROS1/2機(jī)器人多機(jī)網(wǎng)絡(luò)通信配置-更新-2022_ide_04?





本文摘自 :https://blog.51cto.com/u

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