ROS system is designed mainly for distributive computing. We can write and run the ROS nodes on multiple machines and communicate each node to a single master. For communicating between two devices using ROS, we should follow the following rules:
- Only single ROS master should run; we can decide which machine should run the master
- All machines should be configured to use the same master URI through
ROS_MASTER_URI - Bi-directional connectivity should be ensured between all the pairs of machines
- Each machine should have a name that can be identified by the other machines
In this section, we will see how to run the ROS master in Odroid and stream the camera images to a PC. First, we will look at the setup required for the distributing computing between Odroid and PC.
Connect Odroid to the PC directly using the LAN cable and create a Ethernet hotspot, as we mentioned in the previous chapter. Find the IPs of Odroid and the PC and set the following lines of command...