Closed suztakur closed 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,
Some things to note,
ROS_DOMAIN_ID
will 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.
Thanks for the reply. I was able to confirm the connection by inactivating the firewalls on the robot PC and ROS2PC.
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.