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--- getting_started:ros_run [2021/03/29 16:21] – [Running your Application on a Target] ursgraf
+++ getting_started:ros_run [2026/04/21 16:48] (current) – ursgraf
@@ Line 5: / Line 5: @@
 ===== Running your Application on the Host =====
-If your EEROS-ROS node is on the host where you also run your ROS master is straightforward. You can use all your ROS tools as you do without using EEROS.
+If your EEROS-ROS node is on the host where you also run your ROS master the procedure is straightforward. You can use all your ROS tools as you do without using EEROS. Beware that you built EEROS with ROS support. When running EEROS examples or any other EEROS application you have to make sure that the ROS libraries can be found when dynamic linking comes up. Run your ROS setup scripts as given in [[getting_started:ros_prep|]]. \\ \\
+Do not run your program with root privileges because the DDS layer of ROS might show discovery issues. Your program needs real-time privileges for the executor to change scheduling parameters, see
 ===== Running your Application on a Target =====
-We strongly recommend to run your ROS master on the host. You will have enough computing power and you can use graphical utilities such as [[http://wiki.ros.org/rqt|rqt]] or [[http://wiki.ros.org/rviz|rviz]].
 ==== Network Setup ====
-As your application on the target will register as a ROS node, it has to find your host computer. In every shell on your target where you want to run your applications you have to set the environment variable ''ROS_MASTER_URI'' with e.g. <code>
+As your application on the target will register as a ROS node, it has to find your host computer. Find out the ip number of your target as well as the ip number with which your target reaches your host. If in doubt, try to ping your host computer from the target and vice versa.
-export ROS_MASTER_URI=http://192.168.7.3:11311
-</code>
-An EEROS application using ROS needs to be started with super user privileges. Further,
+==== Running the Application ====
-ROS needs some system variables, like ''ROS_MASTER_URI'', which are defined by the ''setup.bash'' script of ROS.
+Start your application as a regular EEROS application.
-To forward these variables to the super user process, the option //-E// has to be used.
-<code>
-$ sudo -E ./application
-</code>
+Use graphical utilities such as [[http://wiki.ros.org/rqt|rqt]] or [[http://wiki.ros.org/rviz|rviz]] on the host.