Multiple Microros agents

Open
#235 1 comment 0 reactions 0 assignees View on GitHub

Nobody has claimed this yet.

Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
25/100
Issue type
Feature
Clarity
Needs clarification
Activity status
Stale
Tech stack
ubuntu
Domain
distributed-systems, networking

Research direction

Start with the two ros2 run micro_ros_agent micro_ros_agent udp4 commands and the separate PC and VM addresses and ports described in the issue. Review the agent and client connection guidance for the requested multiple-agent and publisher scenarios, then document or verify a reproducible setup for both cases.

Written by the indexing model from the issue text.

Description

Issue template

  • Hardware description: Using linux PC Ubuntu 22.04.5
  • RTOS: none for now later will use teensy 4.0
  • Installation type: setting agent in the pc and vm directly without docker
  • Version or commit hash: foxy-microros; humble-ros2
Steps to reproduce the issue

I used the following commands to run the agent - ros2 run micro_ros_agent micro_ros_agent udp4 --port 2019 (on PC with ip 10.221.38.153) then similarly ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 (on VM with ip 10.221.38.78)

I want to try vm as one device pc as another run both the microros agents and connect it to the clients to receive the ping messages respectively.

Expected behavior

Should be able to run the multiple agents for pc and vm acting as separate devices

Actual behavior

I have the agent running
image

the ping gets sent
image

and is correctly publishing the expected pings
image

This is happening in both the devices separately
Could you please help me with further steps on how to connect both the agents(one of pc other of vm) to the respective clients on each device. so for example I have to pub msgs via say vm agent and this msg has to get subscribed to the vm subscriber(connected to pc agent)
Overall I have to try
case 1: multiple agents accessing one publisher
case 2: one agent accessing multiple publisher

Additional information

I get the impression that multiple agents is possible and listening to the specific agent has a cmd that gives the particular ip address and port via the clients/nodes or some configuration modification please help with the method

Dominant language
C++
Stars
201
Forks
111
Avg merge
1d 6h
Merged PRs (30d)
10

Contributor guide

Open the contributing guide

First steps

  1. Read the whole issue, then the project's contributing guide.
  2. Comment on the issue to say you are picking it up — it saves two people doing the same work.
  3. Fork the repository and make your change on a branch.
  4. Open a pull request that references the issue number.

More from micro-ROS/micro-ROS-Agent

All issues in micro-ROS/micro-ROS-Agent

Similar issues

More C++ issues

Get new issues in your inbox

A short digest of beginner-friendly GitHub issues.