Introduction: ROS Configuration for AprilTag Navigation
In this activity, you will configure and test ROS settings, ensuring the JetBot is set as the ROS Master and able to run ROS Nodes.
JetBot ROS Network Diagram For Camera Calibration and AprilTag Navigation, the ROS Master and all ROS Nodes run directly on the JetBot. You will use Terminal interfaces available directly on the JetBot and through Jupyter Labs to configure and use ROS.
Did You Know? Terminal Windows
A terminal window is a simple command interface to a computer system. The name is a reference to the style of text-based interface used to interact with early mainframe computers. Early MainframeTerminals (Latin: terminus = boundary) were the places where humans and computers interacted. From the computer’s perspective, a terminal – usually just a keyboard and green screen monitor – also functioned like a bus terminal: a place where data would enter (through the keyboard) and exit (through the monitor). Terminal Window in Ubuntu Terminals typically use command line interfaces. Instead of tapping or clicking buttons, the user types commands as a line of text. These commands are very specific instructions for the machine to follow, and often access functions that are not intended for everyday users. Both of these qualities make command lines good tools for technicians and maintainers working on those systems.
ROS Configuration
Follow along with these steps to set the JetBot up as the ROS Master and test that it can execute ROS Nodes.
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Step 1. Power on the Jetson Nano and note its IP Address
Turn on your JetBot and verify its IP address.OLED IP Address
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Troubleshooting
If the roscore command was unsuccessful:
Double-check that you have the correct IP address for the ROS_MASTER_URI of JetBot and that you correctly typed the command in the JetBot Terminal.
Sometimes, simply restarting ROS nodes or the entire ROS system can resolve issues. Try restarting the JetBot.
Contact your network administrator to see if a firewall or network policy is preventing ROS communication (e.g. if port 11311 is blocked).
