Commit e9e69f8c authored by Tim Übelhör's avatar Tim Übelhör
Browse files

Merge branch 'multi_machine' into 'master'

Multi machine

See merge request !1
parents df6a1b64 7fb988e0
......@@ -9,6 +9,7 @@
"/usr/include",
"/opt/ros/melodic/include",
"${workspaceFolder}/devel/include",
"${workspaceFolder}/devel/include/gl3w",
"${workspaceFolder}/src/charuco_detect/include",
"${workspaceFolder}/src/fiducials/fiducial_slam/include",
"${workspaceFolder}/src/iiwa_com/include",
......@@ -16,15 +17,9 @@
"${workspaceFolder}/src/realsense/realsense2_camera/include",
"${workspaceFolder}/src/robo_guide/include",
"${workspaceFolder}/src/robo_guide_imarker/include",
"${workspaceFolder}/src/scigl_render/include",
"${workspaceFolder}/src/scigl_render_ros/include",
"${workspaceFolder}/src/fiducials/fiducial_slam/include",
"~/.conan",
"~/.conan/data/eigen/3.3.7/conan/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include/eigen3",
"~/.conan/data/scigl_render/0.6/tuebel/testing/source/include",
"~/.conan/data/glm/0.9.9.1/g-truc/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include",
"~/.conan/data/gl3w/0.2/tuebel/testing/package/bd296613bdf96784eee27d07e7101fa30484f901/include",
"~/.conan/data/glfw/3.2.1/bincrafters/stable/package/76480ff7af5ef6b0a1c8bc2444dbd480a5eaef8b/include",
"~/.conan/data/filter_bay/0.4.3/tuebel/testing/source/include"
"${workspaceFolder}/src/fiducials/fiducial_slam/include"
],
"name": "Linux",
"intelliSenseMode": "gcc-x64",
......
......@@ -5,68 +5,11 @@
"version": "0.2.0",
"configurations": [
{
"name": "Python: Terminal (integrated)",
"type": "python",
"name": "ROS: Launch",
"request": "launch",
"program": "${file}",
"console": "integratedTerminal"
},
{
"name": "tracker_node",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/devel/lib/robo_guide/tracker_node",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": true,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
},
{
"name": "init_marker",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/devel/lib/robo_guide_imarker/init_marker",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": true,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
},
{
"name": "projector_node",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/devel/lib/scigl_render_ros/projector_node",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
"target": "/home/medica/code/robo_guide_ws/src/robo_guide/launch/launch_all.launch",
"type": "ros",
"preLaunchTask": "source_robo_guide_ws"
}
]
}
\ No newline at end of file
{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"label": "source_robo_guide_ws",
"type": "shell",
"command": "source ~/code/robo_guide_ws/devel/setup.bash"
}
]
}
\ No newline at end of file
......@@ -95,12 +95,27 @@ IP configuration:
- jetson: 172.31.1.148
- laptop: 172.31.1.149
Configure on the laptop:
To enable comfortable remote access setup ssh keys on the laptop and copy them to the jetson.
It is important to add the jetson to the known hosts:
```bash
ssh-keygen -t rsa -b 4096 -C "email@example.com"
ssh-copy-id -i .ssh/id_rsa.pub
ssh -oHostKeyAlgorithms='ssh-rsa' nvidia@172.31.1.148
```
Export the environment variables on te laptop (e.g. in .bashrc):
```bash
export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
export ROS_IP=172.31.1.149
```
And on the jetson:
```bash
export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
export ROS_IP=172.31.1.8
```
Optionally add them to /etc/hosts for easier ssh commands:
```bash
172.31.1.147 iiwa
......
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
#!/usr/bin/env bash
# multi machine setup
export ROS_MASTER_URI=http://172.31.1.149:11311 # laptop as master
export ROS_IP=172.31.1.148 # jetson static ip
# setup display for GL support
export DISPLAY=:0
# source the workspace
source /home/nvidia/code/robo_guide_ws/devel/setup.bash
exec "$@"
......@@ -11,71 +11,7 @@
],
"python.pythonPath": "/usr/bin/python",
"files.associations": {
"*.mb": "markdown",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"*.tcc": "cpp",
"chrono": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"list": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"exception": "cpp",
"fstream": "cpp",
"functional": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"memory": "cpp",
"mutex": "cpp",
"new": "cpp",
"optional": "cpp",
"ostream": "cpp",
"ratio": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"thread": "cpp",
"cinttypes": "cpp",
"type_traits": "cpp",
"tuple": "cpp",
"typeinfo": "cpp",
"utility": "cpp",
"csignal": "cpp",
"bitset": "cpp",
"future": "cpp",
"numeric": "cpp",
"typeindex": "cpp",
"hash_map": "cpp",
"hash_set": "cpp",
"unordered_set": "cpp",
"*.vs": "cpp",
"*.frag": "cpp",
"*.comp": "glsl",
"*.ipp": "cpp",
"core": "cpp",
"numericaldiff": "cpp",
"string": "cpp"
"*.yaml": "home-assistant"
},
"ros.distro": "melodic"
}
......
Subproject commit c162da0c41f5f146b5cb891412976eb8d2331ec2
Subproject commit bb4dc143c5290519f1dfe2242c15928308120764
Subproject commit 5e5328d30339edb0800eaf0aa456453b5cd74bd3
Subproject commit 9a6e8581b2c19681b9a810e8f45b0d2937d30fc9
Subproject commit 9ae7cef21ba84ce354ded67df3850f9fcf568d9e
Subproject commit 09eecabbb224cd8bd6da85cab7030f35d069b742
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