Running ROS on multiple machines

You can run this tutorial on:

• ROSbot 2.0
• ROSbot 2.0 PRO
• ROSbot 2.0 simulation model (Gazebo)

Introduction

In this manual you will learn how to configure ROS to work on multiple computers.You will use this configuration to set up system consisting of two robots, which perform task of searching an object.

In this manual you will need two robots based on CORE2 with the same equipment as in the previous manual.

In case you are working on Gazebo simulator, it is not possible to setup system to work on multiple computers, altough you can simulate many ROSbots in simulator running on one machine. Just skip the section Network setup and proceed to Performing a task with multiple machines.

Network setup

To run ROS on multiple machines, all of them must be in the same local network- if necessary, use hConfig app to connect all devices to one network. You will need IP address of every device.

While working on multiple machines, you need only one roscore running. Choose one device for it- we will call it master.

ROSbots are coming preconfigured with Husarnet support, which provide low-latency, secure connection between robots. Husarnet is a P2P Virtual LAN network, so from your ROSbots point of view, they are in the same LAN network even if they are not physically in the same network. Husarnet setup is covered in Connecting through Husarnet section.

On the master device open the .bashrc file:

nano ~/.bashrc

To disable husarnet entries, find lines:

export ROS_MASTER_URI=http://master:11311
export ROS_IPV6=on

and comment them with #:

#export ROS_MASTER_URI=http://master:11311
#export ROS_IPV6=on

Then add two lines at file ending, replacing X.X.X.X and Y.Y.Y.Y with IP address of master device.

export ROS_MASTER_URI=http://X.X.X.X:11311
export ROS_IP=Y.Y.Y.Y

On second robot also open the .bashrc file, comment Husarnet entries and add two lines at file ending. This time replace X.X.X.X with IP address of master device and Y.Y.Y.Y with IP address of second robot.

TIP! Remember that roscore must be running on the device indicated as ROS master!!!

Task 1

Set configuration for working on multiple machines on two devices. On the first device run only roscore, on the second run astra.launch and image_view nodes. Now run rqt_graph on both of them, you should see the same graph.

Next run image_view node on machine with roscore. You should see the image from camera mounted on the device with astra.launch running. Again use rqt_graph to examine what changed in the system.

Performing a task with multiple machines

In this section we will program two robots to search objects one after another. To do that we will need one node which manages the search process- it will run only on one machine. We will also need a node that searches for the object- it will run on both devices. For recognizing objects we will use find_object_2d node. If you have saved objects from previous tutorials you can use them, in other case you will need to teach at least four objects. Remember that both robots need to have the same image database, you should copy saved images from one device to another.

mission_controller node

In tutorial_pkg package in src folder create file mission_controller.cpp and open it with a text editor.

Begin with the headers:

#include <ros/ros.h>
#include <std_msgs/Char.h>
#include <std_srvs/Empty.h>

Publisher for current task:

ros::Publisher task_pub;

Constants with IDs of objects to be found:

#define OBJECT_1_ID 8
#define OBJECT_2_ID 6
#define HOME_1_ID 12
#define HOME_2_ID 11

Vector to store sequence of searched objects:

std::vector<int> objects;

Number of currently searched object:

uint8_t current_object = 0;

Message for sending id of currently searched object:

std_msgs::Char task;

Service callback function for reporting found objects:

bool object_found(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
{
   current_object++;
   ROS_INFO("Current object: %d", current_object);
   return true;
}

In main function, definining sequence of searched objects:

objects.push_back(OBJECT_1_ID);
objects.push_back(OBJECT_2_ID);
objects.push_back(HOME_1_ID);
objects.push_back(HOME_2_ID);

Node initialization:

ros::init(argc, argv, "mission_controller");
ros::NodeHandle n("~");
ros::Rate loop_rate(50);

Registering the service- objects that are found will be reported here:

ros::ServiceServer service = n.advertiseService("/object_found", object_found);

Publishing topic with ID of currently searched object:

task_pub = n.advertise<std_msgs::Char>("/task", 1);

In infinite while loop- triggering incoming messages, checking ID of currently searched object and publishing it:

ros::spinOnce();
loop_rate.sleep();
if (current_object < objects.size())
{
   task.data = objects[current_object];
}
else
{
   // mission finished
   task.data = 0;
}
task_pub.publish(task);

Your final file should look like this:

#include <ros/ros.h>
#include <std_msgs/Char.h>
#include <std_srvs/Empty.h>

ros::Publisher task_pub;

#define OBJECT_1_ID 8
#define OBJECT_2_ID 6
#define HOME_1_ID 12
#define HOME_2_ID 11

std::vector<int> objects;

uint8_t current_object = 0;
std_msgs::Char task;

bool object_found(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
{
   current_object++;
   ROS_INFO("Current object: %d", current_object);
   return true;
}

int main(int argc, char **argv)
{
   objects.push_back(OBJECT_1_ID);
   objects.push_back(OBJECT_2_ID);
   objects.push_back(HOME_1_ID);
   objects.push_back(HOME_2_ID);
   ros::init(argc, argv, "mission_controller");
   ros::NodeHandle n("~");
   ros::Rate loop_rate(50);
   ros::ServiceServer service = n.advertiseService("/object_found", object_found);
   task_pub = n.advertise<std_msgs::Char>("/task", 1);
   while (ros::ok())
   {
      ros::spinOnce();
      loop_rate.sleep();
      if (current_object < objects.size())
      {
         task.data = objects[current_object];
      }
      else
      {
         // mission finished
         task.data = 0;
      }
      task_pub.publish(task);
   }
}

search_controller node

In the same package create another file named search_controller.cpp and open it with text editor.

Begin with the header files:

#include <ros/ros.h>
#include <std_msgs/Float32MultiArray.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Range.h>
#include <std_msgs/Char.h>
#include <std_srvs/Empty.h>

Publisher and message for desired velocity:

ros::Publisher action_pub;
geometry_msgs::Twist set_vel;

Variables for distance measured by sensors:

float distL = 0;
float distR = 0;

Variables for storing maximum sensor range:

float sensorL_max = 0;
float sensorR_max = 0;

Variable for currently searched object ID:

u_char search_obj;

IDs of objects to be searched by this node:

int objectID;
int homeID;

Client for found object reporting service:

ros::ServiceClient client;

Callbacks for updating distances and object ID:

void distL_callback(const sensor_msgs::Range &range)
{
   distL = range.range;
   sensorL_max = range.max_range;
}

void distR_callback(const sensor_msgs::Range &range)
{
   distR = range.range;
   sensorR_max = range.max_range;
}

void task_callback(const std_msgs::Char &task)
{
   search_obj = task.data;
}

Callback for handling recognized objects, if ID is in accordance with searched object, reporting it to service:

void objectCallback(const std_msgs::Float32MultiArrayPtr &object)
{
   if (object->data.size() > 0)
   {
      if (search_obj == object->data[0])
      {
         ROS_INFO("Object found, call service %s", client.getService().c_str());
         std_srvs::Empty srv;
         client.call(srv);
      }
   }
}

In main function, node initialization:

ros::init(argc, argv, "action_controller");
ros::NodeHandle n("~");

Subscribing to topics:

ros::Subscriber sub = n.subscribe("objects", 1, objectCallback);
ros::Subscriber distL_sub = n.subscribe("range/fl", 1, distL_callback);
ros::Subscriber distR_sub = n.subscribe("range/fr", 1, distR_callback);
ros::Subscriber task_sub = n.subscribe("/task", 1, task_callback);

Getting objectID and homeID params, robot will search only for objects with these IDs:

n.param<int>("objectID", objectID, 0);
n.param<int>("homeID", homeID, 0);

Initiating client for the service:

client = n.serviceClient<std_srvs::Empty>("/object_found");

Setting loop rate:

ros::Rate loop_rate(10);

Initiating velocity publisher:

action_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 1);

Setting default values for velocity:

set_vel.linear.x = 0;
set_vel.linear.y = 0;
set_vel.linear.z = 0;
set_vel.angular.x = 0;
set_vel.angular.y = 0;
set_vel.angular.z = 0;

In infinite while loop, triggering incoming messages:

ros::spinOnce();
loop_rate.sleep();

If searched object ID complies with this node’s ID, setting desired robot velocity based on sensor measurements:

if (search_obj == objectID || search_obj == homeID)
{
   if (distL > 1)
   {
      distL = 1;
   }
   if (distR > 1)
   {
      distR = 1;
   }
   if (distL > 0 && distR > 0)
   {
      set_vel.angular.z = (distL - distR) * 2;
      set_vel.linear.x = ((distL + distR) / 2) - ((sensorL_max + sensorR_max) / 4);
   }
   else if (distL > 0)
   {
      set_vel.angular.z = -0.25;
      set_vel.linear.x = -0.125;
   }
   else if (distR > 0)
   {
      set_vel.angular.z = 0.25;
      set_vel.linear.x = -0.125;
   }
   else
   {
      set_vel.linear.x = 0.25;
      set_vel.angular.z = 0;
   }
}
else
{
   set_vel.linear.x = 0;
   set_vel.angular.z = 0;
}
action_pub.publish(set_vel);

Your final file should look like this:

#include <ros/ros.h>
#include <std_msgs/Float32MultiArray.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Range.h>
#include <std_msgs/Char.h>
#include <std_srvs/Empty.h>

ros::Publisher action_pub;
geometry_msgs::Twist set_vel;

float distL = 0;
float distR = 0;
float sensorL_max = 0;
float sensorR_max = 0;

u_char search_obj;
int objectID;
int homeID;

ros::ServiceClient client;

void distL_callback(const sensor_msgs::Range &range)
{
   distL = range.range;
   sensorL_max = range.max_range;
}

void distR_callback(const sensor_msgs::Range &range)
{
   distR = range.range;
   sensorR_max = range.max_range;
}

void task_callback(const std_msgs::Char &task)
{
   search_obj = task.data;
}

void objectCallback(const std_msgs::Float32MultiArrayPtr &object)
{
   if (object->data.size() > 0)
   {
      if (search_obj == object->data[0])
      {
         ROS_INFO("Object found, call service %s", client.getService().c_str());
         std_srvs::Empty srv;
         client.call(srv);
      }
   }
}

int main(int argc, char **argv)
{

   ros::init(argc, argv, "action_controller");
   ros::NodeHandle n("~");
   ros::Subscriber sub = n.subscribe("objects", 1, objectCallback);
   ros::Subscriber distL_sub = n.subscribe("range/fl", 1, distL_callback);
   ros::Subscriber distR_sub = n.subscribe("range/fr", 1, distR_callback);
   ros::Subscriber task_sub = n.subscribe("/task", 1, task_callback);

   n.param<int>("objectID", objectID, 0);
   n.param<int>("homeID", homeID, 0);
   client = n.serviceClient<std_srvs::Empty>("/object_found");

   ros::Rate loop_rate(10);
   action_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
   set_vel.linear.x = 0;
   set_vel.linear.y = 0;
   set_vel.linear.z = 0;
   set_vel.angular.x = 0;
   set_vel.angular.y = 0;
   set_vel.angular.z = 0;
   while (ros::ok())
   {
      ros::spinOnce();
      loop_rate.sleep();
      if (search_obj == objectID || search_obj == homeID)
      {
         if (distL > 1)
         {
            distL = 1;
         }
         if (distR > 1)
         {
            distR = 1;
         }
         if (distL > 0 && distR > 0)
         {
            set_vel.angular.z = (distL - distR) * 2;
            set_vel.linear.x = ((distL + distR) / 2) - ((sensorL_max + sensorR_max) / 4);
         }
         else if (distL > 0)
         {
            set_vel.angular.z = -0.25;
            set_vel.linear.x = -0.125;
         }
         else if (distR > 0)
         {
            set_vel.angular.z = 0.25;
            set_vel.linear.x = -0.125;
         }
         else
         {
            set_vel.linear.x = 0.25;
            set_vel.angular.z = 0;
         }
      }
      else
      {
         set_vel.linear.x = 0;
         set_vel.angular.z = 0;
      }
      action_pub.publish(set_vel);
   }
}

Building the nodes

To build your nodes you need to edit the CMakeLists.txt file. Find line:

add_executable(action_controller_node src/action_controller.cpp)

And add two more lines:

add_executable(mission_controller_node src/mission_controller.cpp)
add_executable(search_controller_node src/search_controller.cpp)

Then after:

target_link_libraries(action_controller_node
    ${catkin_LIBRARIES}
    ${OpenCV_LIBRARIES}
)

Add:

target_link_libraries(mission_controller_node
    ${catkin_LIBRARIES}
)

target_link_libraries(search_controller_node
    ${catkin_LIBRARIES}
)

Now you can build your nodes, but before you run them, launch file for them will be required.

Running the nodes on ROSbots

To run your nodes you need two launch files, one for each robot. First will be running on one robot:

<launch>

    <include file="$(find astra_launch)/launch/astra.launch"/>

    <node pkg="find_object_2d" type="find_object_2d" name="find_object_2d">
        <remap from="image" to="/camera/rgb/image_raw"/>
        <param name="gui" value="true"/>
        <param name="objects_path" value="/home/pi/ros_workspace/find_obj"/>
    </node>

    <node pkg="tutorial_pkg" type="mission_controller_node" name="mission_controller">
    </node>

    <node pkg="tutorial_pkg" type="search_controller_node" name="search_controller">
        <param name="objectID" value="3"/>
        <param name="homeID" value="4"/>
    </node>

</launch>

Here you are runing astra.launch and find_object_2d nodes as in previous tutorials. You are also adding nodes that you just created, mission_controller_node without any parameters and search_controller_node with objectID and homeID parameters that identify objects which will be searched for by robot.

Second launch file will be running on another robot:

<launch>

    <include file="$(find astra_launch)/launch/astra.launch">
        <arg name="camera" value="camera_2" />
    </include>

    <node pkg="find_object_2d" type="find_object_2d" name="find_object_2d_2">
        <remap from="image" to="/camera/rgb/image_raw_2"/>
        <param name="gui" value="true"/>
        <remap from="objects" to="objects_2"/>
        <param name="objects_path" value="/home/pi/ros_workspace/find_obj"/>
    </node>

    <node pkg="tutorial_pkg" type="search_controller_node" name="search_controller_2">
        <remap from="objects" to="objects_2"/>
        <remap from="cmd_vel" to="cmd_vel_2"/>
        <remap from="rangeL" to="rangeL_2"/>
        <remap from="rangeR" to="rangeR_2"/>
        <param name="objectID" value="8"/>
        <param name="homeID" value="9"/>
    </node>

</launch>

Here you are also running astra.launch and find_object_2d nodes, but all names are remapped with suffix _2 to distinguish them between both robots. For search_controller_node you will also be remapping all names and additionally you should change values of objectID and homeID parameters to match different objects from image database.

Remember that for CORE2 bridge node on the second robot you also need to remap all topic names.

Task 2 On the device that you have chosen for master run roscore. Then on one of the robots run first launch file with CORE2 bridge node:

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

On another robot run second launch file with CORE2 bridge node:

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2 __name:=serial_node_2 cmd_vel:=cmd_vel_2 rangeL:=rangeL_2 rangeR:=rangeR_2 pose:=pose_2

Observe as one of your robots moves avoiding obstacles. When it finds an object, second robot starts seearching. They should move sequentially until all objects are recognized.

Running the nodes in Gazebo

Gazego will be running on one machine, thus you will use only one launch file. In this case you will use namespaces to distinguish robots, each robot will publish and subscribe topics with its own prefix. Only the mission_controller_node will be working without any namespace to communicate with both robots. All parameters for nodes must be set with the same values as for ROSbots.

You can use below launch file:

<launch>

    <include file="$(find rosbot_gazebo)/launch/world.launch"/>

    <param name="robot_description" command="$(find xacro)/xacro.py '$(find rosbot_description)/urdf/rosbot.xacro'"/>

    <node name="rosbot_spawn_first" pkg="gazebo_ros" type="spawn_model" output="log" args="-urdf -param robot_description -model rosbot_s -y 0 -namespace first/search_controller">
    </node>

    <node name="rosbot_spawn_second" pkg="gazebo_ros" type="spawn_model" output="log" args="-urdf -param robot_description -model rosbot -y 2.5 -namespace second/search_controller">
    </node>

    <node pkg="tutorial_pkg" type="mission_controller_node" name="mission_controller" output="screen">
    </node>

    <node ns="first/search_controller" pkg="find_object_2d" type="find_object_2d" name="find_object_2d">
        <remap from="image" to="camera/rgb/image_raw"/>
        <param name="gui" value="true"/>
        <param name="objects_path" value="$(find tutorial_pkg)/image_rec/"/>
    </node>

    <node ns="first" pkg="tutorial_pkg" type="search_controller_node" name="search_controller" output="screen">
        <param name="objectID" value="8"/>
        <param name="homeID" value="12"/>
    </node>

    <node ns="second/search_controller" pkg="find_object_2d" type="find_object_2d" name="find_object_2d">
        <remap from="image" to="camera/rgb/image_raw"/>
        <param name="gui" value="true"/>
        <param name="objects_path" value="$(find tutorial_pkg)/image_rec/"/>
    </node>

    <node ns="second" pkg="tutorial_pkg" type="search_controller_node" name="search_controller">
        <param name="objectID" value="6"/>
        <param name="homeID" value="11"/>
    </node>

</launch>

Connecting through Husarnet

Above method will be suitable as long as robots are connected in the same local network. Such an requirement can be satisfied in most experimental or small scale use cases.

In the case when more sophisticated network setup is required, e.g. robots will be connected to internet using LTE modem or different WiFi networks. For easy connecting robots in advanced network configurations, you can use Husarnet - the global LAN network for secure P2P connection between robots and IoT devices.

Connetion setup

Log in to Husarnet Dashboard or create an account if you don't have it yet.

You should see Husarnet Dashboard with no networks nor elements:

Push button "Create network" and in dialog type desired network name into field Network name:

After pushing button "Create", you will be redirected to network view:

You can use button "Add element" to add to your network cloud elements or mobile app, but now we will use terminal method.

Adding ROS device to network

Before you add device to network, it is required to setup the environment.

Open .bashrc file and find lines that you added at the beginning of this tutorial:

export ROS_MASTER_URI=http://X.X.X.X:11311
export ROS_IP=Y.Y.Y.Y

and replace them with:

export ROS_MASTER_URI=http://master:11311
export ROS_IPV6=on

ROS_IPV6 makes ROS enable IPv6 mode - Husarnet is a IPv6 network. Setting ROS_MASTER_URI to http://master:11311 ensures ROS will always connect to host called master - which extactly machine it is depends on the setting on the Husarnet Dashboard.

Execute command:

sudo husarnet websetup

You will get response similar to:

Go to https://app.husarnet.com/husarnet/fc94cd22622bf708b9bb22d5589275fa8832943ffdb0175bff7e16ce to manage your network from web browser.

Open the provied link in web browser, you will see device configuration dialog:

Type desired name of the devide into field Name for this device, you will use this name to distinguish your devices in dashboard. From Add to network dropdown menu choose name of network that you created in previous step.

Repeat procedure of adding device with second robot.

Setting the master

After adding both robots, your network should look like below:

You can set device to be master in its settings. Choose device you want to be master and open configuration dialog by clicking its name, status or address:

Check ROS master checkbox and push button "Update".

When you will start roscore on master, message ROS master (roscore) is not running on robot-2. will be gone.

Your first Huarnet newtork is configured and ready:

Running the nodes with Husarnet

Husarnet provide encrypted and direct virtual network for your devices, but it does not modify the ROS workflow. Just go back to section "Running the nodes on ROSbots", start required nodes and oberve as your robots perform the task.

Summary

After completing this tutorial you should be able to configure your CORE2 devices to work together and exchange data with each other. You should also know how to program robots for performing tasks in cooperation.

---

by Łukasz Mitka, Husarion

Do you need any support with completing this tutorial or have any difficulties with software or hardware? Feel free to describe your thoughts on our community forum: https://community.husarion.com/ or to contact with our support: support@husarion.com