Differences

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--- getting_started:ros_run [2021/03/29 16:42] – [Network Setup] ursgraf
+++ getting_started:ros_run [2023/02/09 10:25] (current) – [Running your Application on the Host] 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 ''setup.bash'' script as given in [[getting_started:ros|]]. \\
+When running programs with root priviledges you have to pass the library path with
+<code>
+$ sudo LD_LIBRARY_PATH=${LD_LIBRARY_PATH} ./yourExample
+</code>
 ===== Running your Application on a Target =====
@@ Line 11: / Line 15: @@
 ==== 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. For more details see [[http://wiki.ros.org/ROS/NetworkSetup]] and [[http://wiki.ros.org/ROS/Tutorials/MultipleMachines]].
-export ROS_MASTER_URI=http://192.168.7.3:11311
+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>
-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 <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.
-.168.7.2  bblue
+<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>
-Here again, the ip-number of your target and the resolved target name might differ.
 ==== Running the Application ====