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hsp-iit / project-ergocub

A demonstration of human-robot interaction on the ergoCub through vision.
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ROS2 configuration on ergoCubSN000 #99

Closed SimoneMic closed 1 year ago

SimoneMic commented 1 year ago

The goal is to setup Ros2 on all the computers on the robot network: laptop - torso - head

At the beginning, the multicast of the DDS on ros2 wasn't able to reliably keep topics persistent across the network

SimoneMic commented 1 year ago

Solved by installing CycloneDDS on all the computers (robot and laptop) and setting it up as default DDS as mentioned here.

After just this change the behavior was still the same, so I have changed the behavior from multicast to unicast, specifying the IPs and placing each config file in the /home/username folder. Config file example