ROS1机器人多机网络通信案例turtlesim

于今腐草无萤火，终古垂杨有暮鸦。这篇文章主要讲述ROS1机器人多机网络通信案例turtlesim相关的知识，希望能为你提供帮助。

ROS1 kinetic+melodic+noetic，可以直接互通，c++程序全部通用的。
按：ROS1/2机器人多机网络通信配置-更新-2022
talker-listener

手机端发布，电脑端接收

电脑端发布，手机端接收。
python乱码：
rostopic pub -r 1 /chatter std_msgs/String "data: 做一个欢乐的机器人，很难吗^_^"

乱码如下：

使用c++：

中文支持，哇卡卡！
当然如果源码编译肯定ok的。

发和收都是ok。

1815sudo apt install remmina remmina-plugin-vnc
1816ifconfig
1817ping 192.168.8.111
1818rostopic list
1819sudo apt install ros-noetic-fkie-multimaster
1820sudo apt install ros-noetic-fkie-node-manager
1821sudo apt install ros-noetic-fkie-potree-rviz-plugin
1822sudo apt install ros-noetic-fkie-master-sync
1823hostname
1824roscore
1825rosrun turtlesim turtle_teleop_key
1826sudo apt install ros-noetic-fkie-master-discovery
1827roscore
1828export ROS_IP=192.168.8.100
1829roscore
1830gedit .bashrc
1831rosrun master_discovery_fkie master_discovery
1832rosrun fkie_master_discovery master_discovery
1833rosrun master_discovery_fkie master_discovery
1834rosrun fkie_master_discovery master_discovery
1835rosrun fkie_master_discovery master_discovery _robot_host=[192.168.8.111]
1836rosrun fkie_master_discovery master_discovery _robot_host:=[192.168.8.111]
1837rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111]
1838rosrun fkie_node_manager_daemon node_manager_daemon
1839rosrun fkie_node_manager node_manager
1840sudo apt install python3-grpcio python3-grpc-tools
1841rosrun fkie_node_manager node_manager
1842rosrun fkie_node_manager_daemon node_manager_daemon
1843rosrun fkie_master_sync master_sync
1844ping 192.168.8.111
1845rosrun fkie_node_manager remote_nm.py
1846rostopic list
1847rostopic echo /master_discovery/linkstats
1848node_manager
1849rosrun turtlesim turtlesim_node
1850node_manager
1851sudo apt install ros-noetic-fkie-multimaster
1852sudo apt install python3-grpcio python3-grpc-tools
1853gedit
1854node_manager
1855ifconfig
1856sudo gedit /etc/hosts
1857sudo gedit /etc/hostname
1858sudo gedit /etc/hosts
1859gedit
1860roscore
1861ping ubuntu-phablet
1862roscore
1863rosrun turtlesim turtlesim_node
1864rostopic list
1865rosrun fkie_master_discovery master_discovery _robot_hosts:=[192.168.8.111]
1866rosrun usb_cam usb_cam_node
1867roslaunch usb_cam usb_cam-test.launch
1868rosrun roscpp_tutorials talker
1869rosrun roscpp_tutorials listener
1870rosrun roscpp_tutorials talker
1871rostopic pub -r 1 /chatter std_msgs/String "data: 做一个欢乐的机器人，很难吗^_^"
1872rqt
1873rostopic echo /chatter /
1874rostopic echo /chatter
1875rosrun roscpp_tutorials listener