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Running your ROS Example
Back to Interfacing with ROS.
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.
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 rqt or 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.
export ROS_MASTER_URI=http://192.168.7.3:11311
An EEROS application using ROS needs to be started with super user privileges. Further,
ROS needs some system variables, like ROS_MASTER_URI, which are defined by the setup.bash script of ROS.
To forward these variables to the super user process, the option -E has to be used.
$ sudo -E ./application