Remote Machines Running ROS nodes

This section describes the procedures and configurations required, when a distributed system which consists of machines running ROS is developed.

In this case the remote machines can be configured to launch and run ROS-Nodes by a local invocation.

Lets assume we have a local-machine which executes "most" of the nodes, and a remote-machine which runs a node and export the information on the local-machine.

####Comments:

1. Let the IP-address of the local-machine be: 155.207.33.185 (ROS_IP=155.207.33.185)
2. Let the IP-address of the remote-machine be: 155.207.33.186 (ROS_IP=155.207.33.186)
3. ROS_MASTER runs on the local-machine (ROS_MASTER_URI=http://155.207.33.185:11311)

SSH-connection configurations

The way roslaunch-nodes works, needs a valid ssh-connection between the local and the remote machines. To ensure robustness, create an authorized-key:

1. On the local-machine, create an ssh-key: ssh-keygen -t rsa
2. Once you have entered the Gen Key command, you will get a few more questions:

    Enter file in which to save the key (/home/demo/.ssh/id_rsa):

Type the name of the key to be generated.

    Enter passphrase (empty for no passphrase):

Enter the passphrase to be used for the generated key

3. Copy the public key into the new machine's authorized_keys file, by using the ssh-copy-id command:

ssh-copy-id -i <ssh-key> 

The ssh-key is assumed to be the name of the file u generated the ssh-key on step 2. For example id_rsa

The above procedure ensures thar the ssh-connection from the local to the remote machine, is authorized

Create an env-loaded Script