aaronchongth
commented
1 year ago Hello there! Unfortunately I am unable to recreate this issue without the same hardware at hand. Some questions before I look further into it,
- Does this setup work when these 2 machines are on a different wifi?
- Does this setup work when these 2 machines are on a different pocket wifi?
- Does basic pub sub using ROS 1 or ROS 2 across this same network work? This will give us more information whether it is something that needs tweaking on the network level, cyclonedds or free fleet.
- If the above works, could you try your setup using basic pub sub on cyclonedds, https://github.com/eclipse-cyclonedds/cyclonedds/tree/master/examples?
Some things to note,
- since one of the machines is using ROS 1, setting
ROS_DOMAIN_IDwill not do anything, that is only useful for communications between ROS 2 machines.
I will be removing the bug label as this is not related to free_fleet's implementation or our usage of cyclonedds, but rather the requirement of using a Pocket Wifi instead.
suztakur
Operating system and version: PC: Ubuntu20.04, galactic robot: UbuntuMATE20.04, noetic
How to install RMF I installed RMF following the guide in the link below. https://github.com/open-rmf/free_fleet
Description of the bug
I started free_fleet_client on my robot's PC and free_fleet_server on my PC according to barebones example, but I can't connect. I have confirmed the ping connection and port connection between the robot and the PC. Both the robot and PC set ROS_DOMAIN_ID=0 and opened ports 7400~8000, which would be used by DDS, to check the connection. Pocket Wifi is used as a common network.
Steps to reproduce the bug
PC: ROS_DOMAIN_ID=0, open ports 7400~8000 and start ff_examples_ros2 fake_server.launch.xml Robot: ROS_DOMAIN_ID=0, open ports 7400-8000 and run ff_examples_ros1 fake_client.launch. No connection.
Expected behavior
The free_fleet_client running on the robot is registered in the log of free_fleet_sever.
Actual behavior
No log is registered and no communication is established.
Additional information
Network settings were confirmed at the following link. http://wiki.ros.org/ja/ROS/NetworkSetup The following link was used as a reference for opening the port. https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html A Raspberry Pi 4 Model B is used as the robot PC.