Spaceport Network Setup
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To run Spaceport on multiple machines, all the devices must be on the same local network. While working on multiple machines, you need only one roscore running. Choose one device for it- we will call it master(Subscriber-Ubuntu20.04).
The next part of the tutorial is explained over 2 computers, 4 Jetson Nano, and 6 camera setup. For convenience, the devices are assigned sequential IP addresses. You can customize the devices and network settings for yourself In this scenario, hal is master. marvin1, marvin2, marvin3, marvin4, and marvin5 are clients.
Network Options for configuration are:
hal (192.168.0.100) (subscriber - master)
antmedia(192.168.0.102) (publisher - client)
antmedia(192.168.0.109) (publisher - client)
antmedia(192.168.0.106) (publisher - client)
antmedia(192.168.0.103) (publisher - client)
antmedia(192.168.0.107) (publisher - client)
Step 1: We have to tell what the hostname means. To do it edit /etc/hostnames file with sudo privileges for all computers:
sudo gedit /etc/hosts
Add the following lines to the host file:
192.168.0.100 hal
192.168.0.102 marvin1
192.168.0.109 marvin2
192.168.0.103 marvin3
192.168.0.107 marvin4
192.168.0.106 marvin4
Step 2: For all devices open the .bashrc file. Add the following line:
export ROS_MASTER_URL=http://hal:11311
Step 3: Basic check – Please Try to ping each machine from itself.
ping hal
In the terminal, you should see similar lines below:
PING hal(192.168.1.50) 56(84) bytes of data.
64 bytes from hal(192.168.1.50): icmp_seq=1 til=64 time=0.309ms
64 bytes from hal (192.168.1.50): icmp_seq=1 til=64 time=0.233ms
64 bytes from hal (192.168.1.50): icmp_seq=1 til=64 time=0.293ms
64 bytes from hal (192.168.1.50): icmp_seq=1 til=64 time=0.296ms
Step 4: Then please try to ping between all machines
Now, you are ready. After completing this tutorial you should be able to configure your devices to work together and exchange data with each other.
Next Step: Getting Transformation Matrices