- 问题描述:
- 一台采用桥接模式的ubuntu20.04虚拟机安装了ROS2 foxy系统,旭日x3派的官方系统镜像上安装了TogetherROS和ROS2 foxy官方基础功能包
- 两个设备均处于同一局域网下,且可以ping通
# ubuntu20.04虚拟机ping 旭日X3派 linux@ubuntu:~$ ping 192.168.0.164 PING 192.168.0.164 (192.168.0.164) 56(84) bytes of data. 64 bytes from 192.168.0.164: icmp_seq=1 ttl=64 time=109 ms 64 bytes from 192.168.0.164: icmp_seq=2 ttl=64 time=26.8 ms 64 bytes from 192.168.0.164: icmp_seq=3 ttl=64 time=49.0 ms 64 bytes from 192.168.0.164: icmp_seq=4 ttl=64 time=71.7 ms 64 bytes from 192.168.0.164: icmp_seq=5 ttl=64 time=93.7 ms 64 bytes from 192.168.0.164: icmp_seq=6 ttl=64 time=115 ms 64 bytes from 192.168.0.164: icmp_seq=7 ttl=64 time=36.1 ms ^C --- 192.168.0.164 ping statistics --- 7 packets transmitted, 7 received, 0% packet loss, time 6012ms rtt min/avg/max/mdev = 26.826/71.565/114.568/32.770 ms # 旭日X3派 ping 虚拟机 root@ubuntu:~# ping 192.168.0.104 PING 192.168.0.104 (192.168.0.104) 56(84) bytes of data. 64 bytes from 192.168.0.104: icmp_seq=1 ttl=64 time=10.2 ms 64 bytes from 192.168.0.104: icmp_seq=2 ttl=64 time=4.45 ms 64 bytes from 192.168.0.104: icmp_seq=3 ttl=64 time=4.62 ms 64 bytes from 192.168.0.104: icmp_seq=4 ttl=64 time=4.69 ms 64 bytes from 192.168.0.104: icmp_seq=5 ttl=64 time=3.94 ms 64 bytes from 192.168.0.104: icmp_seq=6 ttl=64 time=3.22 ms 64 bytes from 192.168.0.104: icmp_seq=7 ttl=64 time=3.79 ms 64 bytes from 192.168.0.104: icmp_seq=8 ttl=64 time=3.11 ms 64 bytes from 192.168.0.104: icmp_seq=9 ttl=64 time=5.24 ms 64 bytes from 192.168.0.104: icmp_seq=10 ttl=64 time=11.9 ms ^C --- 192.168.0.104 ping statistics --- 10 packets transmitted, 10 received, 0% packet loss, time 9014ms rtt min/avg/max/mdev = 3.109/5.516/11.941/2.867 ms
- 旭日x3派端运行ros2 multicast send,虚拟机端运行ros2 multicast receive, 虚拟机未接收组包数据
# 旭日X3派 root@ubuntu:~# source /opt/tros/local_setup.bash root@ubuntu:~# ros2 multicast send Sending one UDP multicast datagram... root@ubuntu:~# ros2 multicast send Sending one UDP multicast datagram... ------------- # 虚拟机端 linux@ubuntu:~$ ros2 multicast receive Waiting for UDP multicast datagram...
- 旭日x3派运行talk示例,虚拟机运行listener示例,虚拟机未接收旭日x3派发送过来的数据
root@ubuntu:~# ros2 run demo_nodes_cpp talker [INFO] [1656817593.545958373] [talker]: Publishing: 'Hello World: 1' [INFO] [1656817594.537826325] [talker]: Publishing: 'Hello World: 2' [INFO] [1656817595.538075689] [talker]: Publishing: 'Hello World: 3' [INFO] [1656817596.538064511] [talker]: Publishing: 'Hello World: 4' linux@ubuntu:~$ ros2 run demo_nodes_cpp listener
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ROS_DOMAIN_ID环境变量未设置,为默认值
基于旭日X3派的TogetherROS的多机通信问题-求助!
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