FKIE Multimaster

Get Started

• https://github.com/fkie/multimaster_fkie/tree/noetic-v1.2.4
• http://wiki.ros.org/multimaster_fkie
• https://digital.csic.es/bitstream/10261/133333/1/ROS-systems.pdf
• http://www.huyaoyu.com/technical/2018/08/27/multimaster-ros-configuration-and-multimaster-fkie.html
• http://wiki.ros.org/master_discovery_fkie?distro=melodic
• http://wiki.ros.org/node_manager_fkie?distro=melodic

Setup

Install the fkie_multimaster.

#Use same ros dist in robot and control station.
#noetic
sudo apt-get install ros-noetic-fkie-multimaster
#melodic
sudo apt-get install ros-melodic-multimaster-fkie ### check this

Enable multicast

• For all computers on a local ROS network, and for all ROS networks, first check if the multicast feature is enabled using the following command. It should return 0.

cat /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts

• Else, edit the /etc/sysctl.conf file and add the following line.

sudo gedit /etc/sysctl.conf
#add/uncomment the below line
net.ipv4.icmp_echo_ignore_broadcasts=0
#restart the service
sudo service procps restart

Enable IP forwarding

• Enable ip foewarding on both systems. Check if the below command returns 1.

cat /proc/sys/net/ipv4/ip_forward

• Else,edit the /etc/sysctl.conf file and add the following line, or uncomment it if it already exists, and change its default value.

sudo gedit /etc/sysctl.conf
#add/uncomment the below line
net.ipv4.ip_forward=1
#restart the service
sudo service procps restart

Host name and IP address binding

• For all computers on a local ROS network, and for all ROS networks, add these line to the /etc/hosts file.

sudo gedit /etc/hosts
# add ip addresses and host names of robots and control station to the file
Eg:
10.223.240.0 octo
10.223.240.1 octo-1

Change the ROS_MASTER_URI variable

• Export ROS_MASTER_URI of respective systems to their bash scripts.

sudo gedit ~/.bashrc
export ROS_MASTER_URI=http://<hostname or IP address>:11311

Usage

• After setup, run these commands on xavier (indivdual terminals).

roscore
rosrun master_discovery_fkie master_discovery

• Run these commands on control station (indivdual terminals).

roscore
rosrun master_discovery_fkie master_discovery
node_manager

• Back to normal system

revert the above changes as soon as possible

 sudo gedit /etc/hosts
 #on xavier(dry)
10.223.240.0   octobotics
10.223.240.1   dry
#on gnd station
10.223.240.0   octobotics
10.223.240.1   dry

# remote.bash
export ROS_MASTER_URI=http://10.223.240.1:11311
export ROS_IP=10.223.240.0
export ROS_HOSTNAME=dry