ROS1机器人多机网络通信案例turtlesim

Posted 2022-05-11 zhangrelay

ROS1 kinetic+melodic+noetic，可以直接互通，c++程序全部通用的。

按：ROS1/2机器人多机网络通信配置-更新-2022

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talker-listener

手机端发布，电脑端接收

电脑端发布，手机端接收。

python乱码：

rostopic pub -r 1 /chatter std_msgs/String "data: 做一个欢乐的机器人，很难吗^_^" 

乱码如下：

 

使用c++：

 

中文支持，哇卡卡！ 

当然如果源码编译肯定ok的。

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发和收都是ok。

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1815  sudo apt install remmina remmina-plugin-vnc 
 1816  ifconfig
 1817  ping 192.168.8.111
 1818  rostopic list
 1819  sudo apt install ros-noetic-fkie-multimaster
 1820  sudo apt install ros-noetic-fkie-node-manager
 1821  sudo apt install ros-noetic-fkie-potree-rviz-plugin
 1822  sudo apt install ros-noetic-fkie-master-sync 
 1823  hostname
 1824  roscore
 1825  rosrun turtlesim turtle_teleop_key 
 1826  sudo apt install ros-noetic-fkie-master-discovery 
 1827  roscore
 1828  export ROS_IP=192.168.8.100
 1829  roscore
 1830  gedit .bashrc 
 1831  rosrun master_discovery_fkie master_discovery
 1832  rosrun fkie_master_discovery master_discovery 
 1833  rosrun master_discovery_fkie master_discovery
 1834  rosrun fkie_master_discovery master_discovery 
 1835  rosrun fkie_master_discovery master_discovery _robot_host=[192.168.8.111]
 1836  rosrun fkie_master_discovery master_discovery _robot_host:=[192.168.8.111]
 1837  rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111]
 1838  rosrun fkie_node_manager_daemon node_manager_daemon 
 1839  rosrun fkie_node_manager node_manager 
 1840  sudo apt install python3-grpcio python3-grpc-tools 
 1841  rosrun fkie_node_manager node_manager 
 1842  rosrun fkie_node_manager_daemon node_manager_daemon 
 1843  rosrun fkie_master_sync master_sync 
 1844  ping 192.168.8.111
 1845  rosrun fkie_node_manager remote_nm.py 
 1846  rostopic list 
 1847  rostopic echo /master_discovery/linkstats 
 1848  node_manager
 1849  rosrun turtlesim turtlesim_node 
 1850  node_manager
 1851  sudo apt install ros-noetic-fkie-multimaster
 1852  sudo apt install python3-grpcio python3-grpc-tools
 1853  gedit 
 1854  node_manager
 1855  ifconfig
 1856  sudo gedit /etc/hosts
 1857  sudo gedit /etc/hostname 
 1858  sudo gedit /etc/hosts
 1859  gedit
 1860  roscore
 1861  ping ubuntu-phablet
 1862  roscore
 1863  rosrun turtlesim turtlesim_node 
 1864  rostopic list 
 1865  rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111]
 1866  rosrun usb_cam usb_cam_node 
 1867  roslaunch usb_cam usb_cam-test.launch 
 1868  rosrun roscpp_tutorials talker
 1869  rosrun roscpp_tutorials listener
 1870  rosrun roscpp_tutorials talker
 1871  rostopic pub -r 1 /chatter std_msgs/String "data: 做一个欢乐的机器人，很难吗^_^" 
 1872  rqt
 1873  rostopic echo /chatter /
 1874  rostopic echo /chatter
 1875  rosrun roscpp_tutorials listener

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