## Setting up ROS to run on multiple computers (and robots)

### Setting up /etc/hosts on both computers:

cat /etc/hosts
```
127.0.0.1	localhost
127.0.1.1	michael-LAPTOP

# emre laptop
10.40.133.8	emre-lenovo

# robotino TUW
192.168.8.10	robotino
```

### Exporting ROS_MASTER_URI

On one computer the ROS master will run.

On the others you must export the ROS_MASTER_URI environment variable:

export ROS_MASTER_URI="http://michael-LAPTOP:11311"



## How to launch everything

### run a single node

rosrun package_name node_name [arguments]

For example:

rosrun move_base move_base
rosrun gmapping slam_gmapping
rosrun rviz rviz

### launch files for groups of nodes and parameters

roslaunch package_name launch_file_name

Some launch files:
vim src/rosplan/rosplan_planning_system/launch/planning_system_knowledge.launch
vim src/rosplan/rosplan_demos/launch/mc2_turtlebot.launch

(To look at the turtlebot domain file included in mc2_turtlebot.launch)
vim src/rosplan/rosplan_planning_system/common/domain_turtlebot.pddl 

To launch:
roslaunch rosplan_demos mc2_turtlebot.launch



## From the command line:

### view nodes

rosnode -h
(try list, info)

### view topics and messages

rostopic -h
(try list, info, echo, pub)

rosservice -h
(try list, info, call)

rosmsg -h
rossrv -h
(try list, show)

For example:
rotopic list
rostopic info /scan
rosmsg list
rosmsg show rosplan_dispatch_msgs/ActionDispatch



## Graphical User interfaces

### rviz

rosrun rviz rviz

Either set up a configuration, or load a configuration from:
rosplan/rosplan_demos/rviz/

Set up displays:
- Robot position (axes or model)
- map
- costmaps
- image
- depth image
- scan
- point cloud data
- amcl particles


### rqt

Explore plugins (like the node viewer used to make the graphs in the slides.)


## ROSPlan

### the ROSPlan rqt plugin

- Action dispatcher
- Dispatcher
- Problem Viewer