Setup
I have 2 machines running ubuntu 20.04 and ROS Noetic on the same network:
- Machine 1 is for running a gazebo simulation (Alias: "FMS")
- Machine 2 is for spawning the robot in the simulation and running the navigation stack
I've configured the /etc/hosts of both of the machine and multicasting have been enabled (/proc/sys/net/ipv4/ip_forward set to 1 and /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts set to 0)
This is my launch file for Machine 1:
<launch>
<arg name="gui" default="false"/>
<node name="master_discovery" pkg="fkie_master_discovery" type="master_discovery" output="screen">
<rosparam param="robot_hosts">['ROBOT1', 'ROBOT2']</rosparam>
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
</include>
</launch>This is my launch file for Machine 2:
<launch>
<arg name="model" default="waffle_pi" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="robot_name" default="robot1" doc="name of the robot (must be unique and does not contain whitespaces)"/>
<arg name="x_pos" default="-4.0"/>
<arg name="y_pos" default="1.0"/>
<arg name="z_pos" default="0.0"/>
<node name="master_discovery" pkg="fkie_master_discovery" type="master_discovery" output="screen">
<!-- <rosparam param="robot_hosts">['FMS']</rosparam> -->
<rosparam param="heartbeat_hz">2</rosparam>
<!-- <rosparam param="send_mcast">False</rosparam> -->
<!-- <rosparam param="listen_mcast">False</rosparam> -->
</node>
<node name="master_sync" pkg="fkie_master_sync" type="master_sync" output="screen">
<rosparam param="ignore_hosts"> ['ROBOT2'] </rosparam>
<rosparam param="sync_hosts"> ['FMS'] </rosparam>
<!-- <rosparam param="ignore_topics"> ['*theora*', '*compressedDepth*'] </rosparam> -->
<!-- <rosparam param="resync_on_reconnect">False</rosparam> -->
</node>
<param name="/use_sim_time" value="true"/>
<group ns="$(arg robot_name)">
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro' robot_name:=$(arg robot_name)" />
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg robot_name)_turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description -robot_namespace $(arg robot_name)" output="screen" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0"/>
</node>
<node name="base_link_to_laser" pkg="tf" type="static_transform_publisher" args="-0.032 0 0.1397 0 0 0 base_link base_scan 100"/>
<!-- tranformations relay -->
<node name="prefixed_odom_relay" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 odom $(arg robot_name)/odom 100"/>
<node name="prefixed_base_footprint_relay" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 $(arg robot_name)/base_footprint base_footprint 100"/>
</group>
<!-- topic relay nodes -->
<node name="$(arg robot_name)_cmd_vel_relay" pkg="topic_tools" type="relay" args="/cmd_vel /$(arg robot_name)/cmd_vel" output="screen" />
<node name="$(arg robot_name)_imu_relay" pkg="topic_tools" type="relay" args="/$(arg robot_name)/imu /imu" output="screen" />
<node name="$(arg robot_name)_joint_states_relay" pkg="topic_tools" type="relay" args="/$(arg robot_name)/joint_states /joint_states" output="screen"/>
<node name="$(arg robot_name)_odom_relay" pkg="topic_tools" type="relay" args="/$(arg robot_name)/odom /odom" output="screen" />
<node name="$(arg robot_name)_scan_relay" pkg="topic_tools" type="relay" args="/$(arg robot_name)/scan /scan" output="screen"/>
</launch>I spawned a turtlebot3 model that I have edited so the topics and tf are prefixed properly and the local nodes on Machine 2 can communicate using regular topics/services name such as /odom, /scan, etc
Problem
When I run the navigation stack (this is a custom navigation stack we develop) in Machine 2, sometimes this log appears Unregistering /gazebo, its pretty inconsistent to when the log appears after running the navigation stack. But when I tried to get the info of the gazebo node (rosnode info /gazebo) in Machine 2 I got this
The publications and services is empty on Machine 2, but on Machine 1 the gazebo node still has the correct publications and services and still publishing the correct topic
What could cause this error?
Setup
I have 2 machines running ubuntu 20.04 and ROS Noetic on the same network:
I've configured the /etc/hosts of both of the machine and multicasting have been enabled (/proc/sys/net/ipv4/ip_forward set to 1 and /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts set to 0)
This is my launch file for Machine 1:
This is my launch file for Machine 2:
I spawned a turtlebot3 model that I have edited so the topics and tf are prefixed properly and the local nodes on Machine 2 can communicate using regular topics/services name such as /odom, /scan, etc
Problem
When I run the navigation stack (this is a custom navigation stack we develop) in Machine 2, sometimes this log appears
Unregistering /gazebo, its pretty inconsistent to when the log appears after running the navigation stack. But when I tried to get the info of the gazebo node (rosnode info /gazebo) in Machine 2 I got thisThe publications and services is empty on Machine 2, but on Machine 1 the gazebo node still has the correct publications and services and still publishing the correct topic
What could cause this error?