# ROS communication over Machines ## Procedure: 1. bind static IP for computers (rpi and xavier) 2. ROS setup --- ## Wiring: Wired Connections (Ethernet cable) ![](https://hackmd.io/_uploads/rkhqEHQph.png) > Machine IP in tutorial: > Rpi : 10.42.0.101 > Xavier: 10.42.0.100 --- ## Tutorial: ### 1. Network configuration #### - On Rpi (Raspbian GNU/Linux os) ``` $ sudo vim /etc/dhcpcd.conf ``` then add settings to file: ```bash interface eth0 static ip_address=10.42.0.101/24 static routers=10.42.0.1 static domain_name_servers=10.42.0.1 8.8.8.8 ``` #### - On Jetson Xavier (Ubuntu os) - enable systemd-networkd service ``` $ sudo systemctl enable systemd-networkd $ sudo reboot ``` - install netplan ``` $ sudo apt install netplan.io ``` - add config file ``` $ sudo vim /etc/netplan/network-config.yaml ``` ```bash= network: version: 2 renderer: networkd ethernets: eth0: addresses: [10.42.0.100/24] gateway4: 10.42.0.1 nameservers: addresses: [10.42.0.1] ``` - apply netplan configuration ``` $ sudo netplan apply ``` - restart networking service ``` $ sudo systemctl restart systemd-networkd ``` - verify configuration ``` $ ip address show eth0 ``` Result: ``` 3: eth0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc pfifo_fast state UP group default qlen 1000 link/ether 48:b0:2d:15:f6:ae brd ff:ff:ff:ff:ff:ff inet 10.42.0.100/24 brd 10.42.0.255 scope global eth0 valid_lft forever preferred_lft forever inet6 fe80::31ca:c65a:20e8:18c1/64 scope link noprefixroute valid_lft forever preferred_lft forever ``` ### 2. Run ROS on mulitple machines Run raspberry pi as ROS Master **In Master (Rpi)** ``` $ vim ~/.bashrc ``` Add in ~/.bashrc ``` # in ~/.bashrc export ROS_MASTER_URI=http://10.42.0.101:11311 export ROS_IP=10.42.0.101 ``` Source ~/.bashrc or reboot ``` $ source ~/.bashrc ``` **In Slave Machine (Jetson Xavier)** Add in ~/.bashrc: ``` # in ~/.bashrc export ROS_MASTER_URI=http://10.42.0.101:11311 export ROS_IP=10.42.0.100 ``` ### Note: **Can only run** <font color="#f00">```roscore```</font> **on Master machine**