Connecting a robot to a desktop

• Note: roscore must be running on the desktop before running roslaunch on the robot

On the desktop

You need to run the following commands on the desktop. It might make sense to put them in the ~/.bashrc file. You should do this in your user account. Once you've edited your bash file, all new terminals will export the correct environment variables.

export ROS_IP=

Example:

export ROS_IP=nibbler.csres.utexas.edu>

On the robot

You'll need to export ROS_IP, as well as tell the robot to use the ROS master on the desktop. This way, nodes on the robot can see nodes on the desktop and vice-versa.

export ROS_IP=`rosrun segbot_bringup get_addr wlan0` export ROS_MASTER_URI=http://<ip/name-of-desktop>:11311

The first line above pulls the address of the robot, as it is dynamically assigned.