Hi @loickchovet,
When the script for setting up a remote connection to the robot is executed, in addition to installing Husarnet, the script adds some variable exports on ~/.bashrc, which are:
export ROS_IPV6=on
export ROS_MASTER_URI=http://master:11311
export ROS_HOSTNAME=master
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///var/lib/theconstruct.rrl/cyclonedds.xml
export FASTRTPS_DEFAULT_PROFILES_FILE=/var/lib/theconstruct.rrl/fastdds_husarnet.xml
The first 3 variables are related to ROS1, and the 3 last variables are related to ROS2.
You said that when you launch something manually on the robot, you are able to see it from The Construct.
This makes sense, because after running that script, the next time that you connect to the robot, the ~/.bashrc
file is sourced automatically, so ROS2 considers those variables, and any ROS2 node launched after the automatic source of ~/.bashrc
can be seen on The Construct.
The reason why you cannot see the topics launched automatically when the robot boots up is that the script launched on boot is NOT sourcing ~/.bashrc
.
I don’t own a Leo Rover, so I don’t know exactly what is the name of the script used for launching everything on boot. Using the ps faux
command, you can see the processes tree, and you will probably find the script that is responsible for launching the ROS nodes.
You just have to modify that script to export the Cyclone-related variables before launching any node. The Cyclone variables are the ones I mentioned earlier:
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///var/lib/theconstruct.rrl/cyclonedds.xml
After that, you have to relaunch the automatically-launched nodes (maybe restarting Leo Rover).
To give you more context, the cyclonedds.xml file tells ROS2 where to find nodes connected to the same Husarnet network. Husarnet is the tool we use to establish the connection between The Construct and your robot.
After exporting the variables aforementioned, and restarting the nodes, please let us know if you still have any other problems.