文章目錄
遠程啓動ROS節點
#1 環境
Ubuntu 16.04
機器配置 :
pc-master 192.168.3.230 本地
pc-slave2 192.168.3.232 遠程
前提條件:
- 可以在兩臺機器上實現單機的ROS發佈和訂閱
- 兩臺機器可以免密登錄
#2 需求
- 在實際應用中, 不同的功能會放在不同的服務器上
- 需要訂閱不同服務器上的topic
#3 驗證前提條件
#3.1 驗證免密登錄
兩臺服務器可以相互免密登錄
具體免密登錄教程 : https://blog.csdn.net/Coxhuang/article/details/106971890
#3.2 驗證單機ros發佈訂閱
這裏以pc-slave2服務器爲例(因爲後面要遠程啓動的也是pc-slave2上的節點)
talker :
listener :
#4 開始
**接下來, 我們要在pc-master服務區上啓動遠程服務器pc-slave2的talker節點 **
#4.1 配置
#4.1.1 pc-master
sudo vim /etc/hosts
在/etc/hosts文件中添加一下內容 :
192.168.3.230 pc-master
192.168.3.232 pc-slave2
sudo vim ~/.bashrc
在~/.bashrc中添加一下內容 :
export ROS_IP="192.168.3.230"
export ROS_HOSTNAME=pc-master
export ROS_MASTER_URI=http://pc-master:11311
export ROSLAUNCH_SSH_UNKNOWN=1
#4.1.2 pc-slave2
sudo vim /etc/hosts
在/etc/hosts文件中添加一下內容 :
192.168.3.230 pc-master
192.168.3.232 pc-slave2
sudo vim ~/.bashrc
在~/.bashrc中添加一下內容 :
export ROS_HOSTNAME=pc-slave2
export ROS_MASTER_URI=http://pc-master:11311
export ROSLAUNCH_SSH_UNKNOWN=1
sudo vim /opt/ros/kinetic/trunk_evn.sh
新增trunk_evn.sh文件
#!/bin/sh
export ROS_IP=192.168.3.232
export ROS_HOSTNAME=pc-slave2
. /home/trunk/work/test/testworkspace/devel/setup.sh
exec "$@"
sudo chmod 777 trunk_evn.sh
#4.2 本地主機腳本
在本地pc-master的package中編寫launch腳本
vim /home/trunk/work/test/testworkspace/src/testpackage/launch/test.launch
<launch>
<machine name="pc-slave2" address="192.168.3.232" user="trunk" env-loader="/opt/ros/kinetic/trunk_evn.sh"></machine>
<node machine="pc-slave2" name="talker" pkg="testpackage" type="talker.py" output="screen" ></node>
</launch>
#4.3 啓動
roslaunch testpackage test.launch
#5 報錯
#5.1 not found in known_hosts
... logging to /home/trunk/.ros/log/84cf4482-b84f-11ea-9d63-000c297ff566/roslaunch-pc-master-3868.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://pc-master:32881/
remote[192.168.3.232-0] starting roslaunch
remote[192.168.3.232-0]: creating ssh connection to 192.168.3.232:22, user[trunk]
/usr/lib/python2.7/dist-packages/Crypto/Cipher/blockalgo.py:141: FutureWarning: CTR mode needs counter parameter, not IV
self._cipher = factory.new(key, *args, **kwargs)
remote[192.168.3.232-0]: failed to launch on pc-slave2:
Unable to establish ssh connection to [[email protected]:22]: Server u'192.168.3.232' not found in known_hosts
解決思路 :
- 看日誌
根據日誌報錯的提示來修改python底層源碼,沒有效果,日誌顯示, ros依然是運行在python2.7上,試着將ros運行在Python3上
- 把系統默認Python替換成Python3
sudo rm -rf /usr/bin/python
sudo ln -s /usr/bin/python3 /usr/bin/python
- 安裝ros的編譯基礎軟件包
sudo apt-get install python3-rosdep python3-rosinstall-generator python3-wstool python3-rosinstall build-essential
sudo pip3 install catkin_pkg
- 安裝軟件包依賴
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
sudo apt-get install libtbb-dev python3-pyqt5
sudo pip3 install empy numpy defusedxml netifaces
# 修復 16.04 libboost_python3找不到的問題
sudo ln -s /usr/lib/x86_64-linux-gnu/libboost_python-py35.so /usr/lib/x86_64-linux-gnu/libboost_python3.so
- 完美解決
#5.2 TypeError: ‘NoneType’ object is not callable
修改Python底層代碼