Real-Time Robotics Framework

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====== Running your ROS Example ======

Back to [[getting_started:ros|]].

===== Running your Application on the Host =====

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. For more details see [[http://wiki.ros.org/ROS/NetworkSetup]] and [[http://wiki.ros.org/ROS/Tutorials/MultipleMachines]]. 

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. 

In every shell on your host where you want to run ''roscore'' or any other ros command you have to set the environment variables ''ROS_MASTER_URI'' and ''ROS_IP'' with e.g. 
<code>
export ROS_MASTER_URI=http://192.168.7.3:11311  // ip number of host
export ROS_IP=http://192.168.7.3                // ip number of host
</code>
 
In every shell on your target where you want to run your application you have to set the environment variables ''ROS_MASTER_URI'' and ''ROS_IP'' with e.g. 
<code>
export ROS_MASTER_URI=http://192.168.7.3:11311  // ip number of host
export ROS_IP=http://192.168.7.2                // ip number of target
</code>

==== Running the Application ====
Generally EEROS applications need to be started with super user privileges. Hence, you have to forward your environment variables to the super user process with the option //-E//. 
<code>
$ sudo -E ./application
</code>