New Network architecture - joelimgu/autocab GitHub Wiki
IPs:
- Jetson(eth): 192.168.1.10 ([email protected])
- Rpi(eth): 192.168.1.1 (pi@_)
The rpi is used by the jetson as a routes to connect to the internet and contains a dhcp server.
ROS2 config:
How do I configure ROS correctly in my computer so that I can connect to remote ROS nodes and debug without ssh?
- Have the right version of linux( ubuntu 22.04LTS for ros2 humble)
- enable ipv4 multicast for ros:
sudo ufw allow in proto udp to 224.0.0.0/4
sudo ufw allow in proto udp from 224.0.0.0/4
ROS2 uses ipv4 multicast instead of a ros_master. If the firewall rules arent working just disable the firewall interelly while working, not recommended (sudo ufw disable https://www.digitalocean.com/community/tutorials/ufw-essentials-common-firewall-rules-and-commands)
- Set up the ROS_DOMAIN_ID env variable:
export ROS_DOMAIN_ID=1(you can add it to you bashrc for simplicity)
Now you should be able to run ros2 topic list and see all the ros2