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fkie / multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)
BSD 3-Clause "New" or "Revised" License
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unable to detect the other master using master_discovery in one computer while the other computer can detect my master #71

Closed Mbadra96 closed 6 years ago

Mbadra96 commented 6 years ago

There is no errors

the first copmuter with ip 192.168.1.6

badra@badra-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 [INFO] [1519305154.375028]: ROS Master URI: http://192.168.1.6:11311/

[INFO] [1519305154.420142]: Robot hosts: [] [INFO] [1519305154.420636]: Approx. mininum avg. network load: 1.36 bytes/s [INFO] [1519305154.552176]: Start RPC-XML Server at ('0.0.0.0', 11611) [INFO] [1519305154.554323]: Subscribe to parameter /roslaunch/uris [INFO] [1519305154.571384]: Create multicast socket at ('224.0.0.1', 11511) [INFO] [1519305154.790963]: Detected master discovery: http://localhost:11611 [INFO] [1519305154.898284]: Added master with ROS_MASTER_URI=http://badra-VirtualBox:11311/

The second computer with ip 192.168.1.8

nasr@nasr-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 [INFO] [1519305169.413408]: ROS Master URI: http://192.168.1.8:11311/

[INFO] [1519305169.445306]: Robot hosts: [] [INFO] [1519305169.447084]: Approx. mininum avg. network load: 1.36 bytes/s [INFO] [1519305169.495208]: Start RPC-XML Server at ('0.0.0.0', 11611) [INFO] [1519305169.501487]: Subscribe to parameter /roslaunch/uris [INFO] [1519305169.530136]: Create multicast socket at ('224.0.0.1', 11511) [INFO] [1519305169.754659]: Detected master discovery: http://localhost:11611 [INFO] [1519305169.858051]: Added master with ROS_MASTER_URI=http://nasr-VirtualBox:11311/ [INFO] [1519305205.267947]: Detected master discovery: http://192.168.1.6:11611 [INFO] [1519305205.872249]: Added master with ROS_MASTER_URI=http://badra-VirtualBox:11311/

i have add the ip on the etc/hosts and the export ROS_Master_URI on the bashrc and the two computers can ping each other with no errors

atiderko commented 6 years ago

please try this:

badra@badra-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 _heartbeat_hz:=0.5
nasr@nasr-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 _heartbeat_hz:=0.5

If this does not help try following:

badra@badra-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 _heartbeat_hz:=0.5 _robot_hosts:=[nasr-VirtualBox]
nasr@nasr-VirtualBox:~$ rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 _heartbeat_hz:=0.5 _robot_hosts:=[badra-VirtualBox]
Mbadra96 commented 6 years ago

first Thank you for your quick response . the second method works. may i know if this the only way to make it work? what was the problem ?

atiderko commented 6 years ago

Second method uses unicast communication to defined robot hosts. I guess the multicast routing from nasr-VirtualBox to badra-VirtualBox does not work properly. You can try to check the routing tables route -n.

Mbadra96 commented 6 years ago

Thank you i will check it