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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
The ip number must be set correctly for your network. It has to be the ip number under which your target can reach your host. If in doubt, try to ping your host computer from the target.
Your host must also know about the network ip and name of your target. You have to add it to your /etc/hosts
file (under Ubuntu) as follows
192.168.7.2 bblue
Here again, the ip-number of your target and the resolved target name might differ.
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.
$ sudo -E ./application