...
bash:
export ROS_LOCALHOST_ONLY=0
export ROS_DOMAIN_ID=42
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
sudo systemctl restart network-manager
sudo pppd call ros2
ROS_IP=10.0.0.2 1 ros2 topic echo /talker
Using rmw_fastrtps_cpp
sudo apt update
sudo apt install ros-galactic-rmw-fastrtps-cpp ros-galactic-rmw-fastrtps-dynamic-cpp
Starting the connection (run in both terminals)
sudo pppd call ros2
Killing the connection
sudo pkill pppd
Testing Steps:
- Send Ros2 Messages over comms
- Send Ros2 Messages from bay station computer to Jetson
- Setup publisher and subscriber for Twist messages
- Integrate sent messages with CAN
- Control motor through Xbox Remote
...