ROS多机通讯与自启

跑通了记录一下

1. ros多机通讯设置

主机分机在同一个网段下

主机：

ubuntu16.04
username： zlzk
ip: 192.168.8.158

分机

ubuntu18.04
username：Xavier
ip: 192.168.8.168

修改 /etc/hosts

sudo gedit /etc/hosts

主机添加：
192.168.8.158 Xavier
分机添加：
192.168.8.168 zlzk
通讯测试，ping对方的用户名：ping zlzk， ping Xavier

修改 ~/.bashrc

sudo gedit ~/.bashrc

主机不用修改
分机：
export ROS_HOSTNAME=Xavier
export ROS_MASTER_URI=http://zlzk:11311

2 .自启动

自启动脚本start.sh

#!/bin/bash

### BEGIN INIT INFO
# Provides:          sj
# Required-Start:    $remote_fs $syslog
# Required-Stop:     $remote_fs $syslog
# X-Start-Before:    kdm gdm3 xdm lightdm
# X-Stop-After:      kdm gdm3 xdm lightdm
# Default-Start:     2 3 4 5
# Default-Stop:      0 1 6 
# Short-Description: Start camera 
# Description:       Start camera
#                    kernel ACPI events.
### END INIT INFO

sleep 2s

cd ~/yolov5-bottle/yolov5/            # code running path

export OPENBLAS_CORETYPE=ARMV8        # arm
export ROS_HOSTNAME=Xavier            # ros communicate
export ROS_MASTER_URI=http://zlzk:11311

source /opt/ros/melodic/setup.bash    # ros source
source ~/catkin_ws/devel/setup.bash
source ~/mambaforge/bin/activate yolo # conda activate


gnome-terminal --tab -e "bash -c 'python detect-bottle.py; exec bash'"
# exec bash   # hold terminal

# RUN_AFTER_BASHRC="set-title title-name" gnome-terminal  --tab -e "bash -c 'pwd; exec bash'"  --tab -e "bash -c 'python detect-bottle.py; exec bash'"

gnome-terminal -t 不能用了，如果想改终端tab title
修改 ~/.bashrc
添加

##### terminal remane shell ###
function set-title() {
  if [[ -z "$ORIG" ]]; then
    ORIG=$PS1
  fi
  TITLE="\[\e]2;$*\a\]"
  PS1=${ORIG}${TITLE}
}
eval  "$RUN_AFTER_BASHRC"

修改start.sh

# gnome-terminal --tab -e "bash -c 'python detect-bottle.py; exec bash'"

RUN_AFTER_BASHRC="set-title title-name" gnome-terminal  --tab -e "bash -c 'pwd; exec bash'"  --tab -e "bash -c 'python detect-bottle.py; exec bash'"

设置

打开 startup applications, 可以在search里搜索
add:
name: my-start
command: gnome-terminal -x /home/xxx/start.sh