Networking

Networking

Network connection over a LAN

ToDo

Network connection for ROS

• If you're connected to VOXL with Wi-Fi over a LAN, you should be able to ping to the VOXL's IP from your PC and vice versa (i.e. ping to your PC's IP from the VOXL)

• setup ROS on the host PC and on the VOXL by updating my_ros_env.sh located in /home/root inside VOXL. your PC's static IP (defined on the router) should be used for the ROS_MASTER_IP, and 'ROS_IP' for each platform would be its IP on the router. Then, roscore on the PC will make every rostopic available for all robots.

At this stage, if roscore is running in the host PC, rostopic list should show the available topics in the VOXL, and vice versa. It's a bi-directional connection. To test,

# in a terminal in the host pc
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 1.0, y: 2.0, z: 3.0}, angular: {x: 3.0,y: 2.0,z: 01.0}}'
# inside VOXL
voxl:~$ rostopic list
/cmd_vel
/rosout
/rosout_agg
voxl:~$ rostopic echo /cmd_vel 
linear: 
  x: 1.0
  y: 2.0
  z: 3.0
angular: 
  x: 3.0
  y: 2.0
  z: 1.0
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the test should also work the other way around i.e. from VOXL to the host PC.