Unable to detect other ROS Multimaster Network

[mingfeng97]

Hi, I am currently having trouble detecting the other ROS network via 224.0.0.1, even though I can ping and ssh each other. The output of my master_discovery node:

Computer 1 code : ~$ rosrun master_discovery_fkie master_discovery _mcast_group:224.0.0.1 [INFO] [WallTime: 1484214084.989779] ROS Master URI: http://172.22.58.242:11311

[INFO] [WallTime: 1484214085.002111] Robot hosts: [] [INFO] [WallTime: 1484214085.002260] Approx. mininum avg. network load: 1.36 bytes/s [WARN] [WallTime: 1484214085.011642] Error while start RPC-XML server on port 11611: [Errno 98] Address already in use Try again... [INFO] [WallTime: 1484214086.013270] Start RPC-XML Server at ('0.0.0.0', 11611) [INFO] [WallTime: 1484214086.014247] Subscribe to parameter /roslaunch/uris [INFO] [WallTime: 1484214086.020829] Listen for multicast at ('226.0.0.0', 11511) [INFO] [WallTime: 1484214086.144409] Detected master discovery: http://172.22.58.242:11611 [INFO] [WallTime: 1484214086.246949] Added master with ROS_MASTER_URI=http://UX302LG:11311/

Computer 2 code: ~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1[INFO] [WallTime: 1484214037.136613] ROS Master URI: http://tay:11311

[INFO] [WallTime: 1484214037.154829] Robot hosts: [] [INFO] [WallTime: 1484214037.154976] Approx. mininum avg. network load: 1.36 bytes/s [INFO] [WallTime: 1484214037.238761] Start RPC-XML Server at ('0.0.0.0', 11611) [INFO] [WallTime: 1484214037.239193] Subscribe to parameter /roslaunch/uris [INFO] [WallTime: 1484214037.243465] Listen for multicast at ('224.0.0.1', 11511) [INFO] [WallTime: 1484214037.369855] Detected master discovery: http://172.22.22.86:11611 [INFO] [WallTime: 1484214037.475341] Added master with ROS_MASTER_URI=http://tay:11311/

I checked the multicast feature and both computers code shows this: ~$ cat /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts 0

Hope you'll reply soon, thanks!

[atiderko]

Hi, are the multicast routes correct? What shows route -n

In the meantime you can test with unicast detection: on computer 1: rosrun master_discovery_fkie master_discovery _robot_hosts:=[tay] on computer 2: rosrun master_discovery_fkie master_discovery _robot_hosts:=[172.22.58.242]

[mingfeng97]

Hi, after testing with unicast detection on computer 1 and 2. Below are the outputs.

Computer 1: nishinihon201@UX302LG:~$ rosrun master_discovery_fkie master_discovery _robot_hosts:=[tay] Error while set the log level: [Errno 111] Connection refused ->INFO level will be used! Traceback (most recent call last): File "/opt/ros/indigo/lib/master_discovery_fkie/master_discovery", line 4, in master_discovery_fkie.main() File "/opt/ros/indigo/lib/python2.7/dist-packages/master_discovery_fkie/init.py", line 97, in main rospy.init_node(PROCESS_NAME, log_level=log_level) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node _init_node_params(argv, name) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 186, in _init_node_params set_param(rosgraph.names.PRIV_NAME + param_name, param_value) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 504, in set_param _param_server[param_name] = param_value #MasterProxy does all the magic for us File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msproxy.py", line 148, in setitem self.target.setParam(rospy.names.get_caller_id(), rospy.names.resolve_name(key), val) File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in call return self.send(self.name, args) File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in request verbose=self.verbose File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request return self.single_request(host, handler, request_body, verbose) File "/usr/lib/python2.7/xmlrpclib.py", line 1301, in single_request self.send_content(h, request_body) File "/usr/lib/python2.7/xmlrpclib.py", line 1448, in send_content connection.endheaders(request_body) File "/usr/lib/python2.7/httplib.py", line 1013, in endheaders self._send_output(message_body) File "/usr/lib/python2.7/httplib.py", line 864, in _send_output self.send(msg) File "/usr/lib/python2.7/httplib.py", line 826, in send self.connect() File "/usr/lib/python2.7/httplib.py", line 807, in connect self.timeout, self.source_address) File "/usr/lib/python2.7/socket.py", line 571, in create_connection raise err socket.error: [Errno 111] Connection refused

Computer 2: tay@tay:~$ rosrun master_discovery_fkie master_discovery _robot_hosts:=[UX302LG][INFO] [WallTime: 1484279727.448112] [3434.522000] ROS Master URI: http://tay:11311

[INFO] [WallTime: 1484279727.484460] [3434.558000] Robot hosts: ['UX302LG'] [INFO] [WallTime: 1484279727.484681] [3434.558000] Approx. mininum avg. network load: 2.72 bytes/s [INFO] [WallTime: 1484279727.576511] [3434.646000] Start RPC-XML Server at ('0.0.0.0', 11611) [INFO] [WallTime: 1484279727.577116] [3434.646000] Subscribe to parameter /roslaunch/uris [INFO] [WallTime: 1484279727.588649] [3434.656000] Listen for multicast at ('226.0.0.0', 11511) [INFO] [WallTime: 1484279728.023697] [3435.056000] Detected master discovery: http://172.22.20.150:11611 [INFO] [WallTime: 1484279728.128538] [3435.160000] Added master with ROS_MASTER_URI=http://tay:11311/

Thanks for replying!

[atiderko]

Hi,

Computer 2 looks good. Multicast is enabled and I think it would also work without robot_host parameter. You can test it, if the system works.

Computer 1: The error occurs, because the master_discovery node can't connect to roscore. Does other ROS nodes work? What is the output of the roscore

regards

[atiderko]

@mingfeng97 is the problem still exists

[SimbaXu]

Hi,

I have a quite similar case here. I have several computers on the same local network. Computer 1 can detect the other computers but it cannot be detected. All other computers can detect each other. It can only be detected by Computer 2 with unicast detection: rosrun master_discovery_fkie master_discovery _robot_hosts:=[Computer 2].

cat /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts returns 0 for all computers.

@atiderko Could you help to troubleshoot?

Thank you!

[bpinaya]

@atiderko Hi there, I am trying to set up multimaster with 2 different computers, using the docs provided here: Multi-master ROS systems section 3 but it's not working. Bellow, you can see the logs

rosrun master_discovery_fkie master_discovery _robot_host:=[SRC-OCU3] [INFO] [WallTime: 1496004910.735777] ROS Master URI: http://asusrog:11311

[INFO] [WallTime: 1496004910.744632] Robot hosts: [] [INFO] [WallTime: 1496004910.744734] Approx. mininum avg. network load: 1.36 bytes/s [WARN] [WallTime: 1496004910.752471] Error while start RPC-XML server on port 11611: [Errno 98] Address already in use Try again... shutdown request: new node registered with same name [INFO] [WallTime: 1496004911.753929] Subscribe to parameter /roslaunch/uris [INFO] [WallTime: 1496004911.757749] Create multicast socket at ('224.0.0.1', 11511) [INFO] [WallTime: 1496004911.959113] Close multicast socket at ('224.0.0.1', 11511)

when I try to run: rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 I get: Error while start RPC-XML server on port 11611: [Errno 98] Address already in use Try again... Any help is appreciated!!!!

[atiderko]

Hi @bpinaya,

if you see the error Error while start RPC-XML server on port 11611: [Errno 98] Address already in use then a second instance of the master_discovery is currently running. This will be stopped by ROS. And it should work, like in your first log. If not, try to restart your PC and run master_dsicovery only once!

_robot_host**s** parameter (you have a typo in the parameter, so [INFO] [WallTime: 1496004910.744632] Robot hosts: [] is empty) you need only if multicast does not work.

What happens if you start master_discovery without any parameter?

[bpinaya]

Yes, I found out that after looking which process was running on that port already, thanks @atiderko !!!