Izihloko ze-ROS 1 nge-VPN: landela iphoyinti lokugcina elimenyezelwe

Ukubhaliswa ku-master ye-ROS 1 akuthwali idatha yezihloko. Funda i-URI yenodi emenyezelwe, yenza lelo kheli likwazi ukuholwa, bese uvumela imbobo yomshicileli.

Isiteshi sakho sokusebenza sifinyelela i-master ye-ROS 1 ngomhubhe kodwa sisabonisa uhlu lwezihloko olungenalutho. Leli phethini livamile ngoba ukubhaliswa ku-master nokuthuthwa kwezihloko kuyizingxoxo ezimbili ezihlukene, futhi eyokuqala kuphela edlula ku-master. Uhlu lokuhlola olungezansi ludlula engxoxweni yesibili: iphoyinti lokugcina elimenyezelwa umshicileli, ikheli okufanele obhalisile afinyelele kulo, kanye nemvume evumela laba ababili ukuthi bakhulume. Konke lapha kumayelana ne-ROS 1 endala kuphela, isikhathi sokusekelwa kwayo i-Noetic saphela ngoMeyi 2025.

Isinyathelo 1: khombisa ukuthi ukuxhumana ne-master akukhona ukuxhumana nesihloko

Qala ngokuhlukanisa okusebenzayo kokungasebenzi. I-rostopic list ephumelelayo ikhombisa ukuthi i-shell yakho ifinyelela embotsheni ye-XMLRPC ye-master nokuthi i-master iyazazi izihloko; ayisho lutho mayelana nokuthi obhalisile angafinyelela yini kumshicileli. Imiyalo emithathu engezansi yenza lo mehluko ubonakale, futhi yonke ingeyokufunda kuphela.

echo "$ROS_MASTER_URI"
rostopic list
rostopic info /chatter

Umkhiqizo we-rostopic info ubiza i-URI yenodi yomshicileli, okuyikheli le-XMLRPC kumgcini womshicileli. Lelo kheli yilona obhalisile wakho azolibiza ngokulandelayo, ngakho kufanele lifinyeleleke kusuka noma kuphi lapho obhalisile esebenza khona. Uma likhomba endaweni yokuxhumana ekhona kuphela ku-LAN yerobhothi uqobo, ukusesha kwe-master kuyaphumelela futhi idatha ayifiki neze.

Isinyathelo 2: funda iphoyinti lokugcina elimenyezelwe kunodi uqobo

I-ROS 1 ikhetha ubunikazi bomgcini obumenyezelwe ku-ROS_IP noma ku-ROS_HOSTNAME uma okukodwa kwakho kusethiwe, futhi uma kungenjalo ibuyela ekuxazululweni kwamagama komgcini uqobo. Hlola imvelo yenqubo eyaqalwa ngempela, ngoba iyunithi ye-systemd, isiqukathi noma itheminali yesibili kungase kuthwele inani elihlukile kunelika-shell lapho ukuhlolwa kwakho kwasebenza khona.

echo "$ROS_IP" "$ROS_HOSTNAME"
rosnode info /talker
getent hosts robot-host

Isimemezelo segama lomgcini sisebenza kuphela uma wonke umlingani exazulula lelo gama abe likheli elifinyelelekayo okuhlosiwe. Uma lelo gama lixazululwa ngaphakathi kwenethiwekhi yerobhothi uqobo kuphela, isiteshi sokusebenza ngaphesheya komhubhe asinayo indlela yokulisebenzisa, futhi i-VPN engacindezeli nasiphi isijobelelo se-DNS yenza ukungafani kube kubi nakakhulu. Uma itopolojiji iholelwe, ukusetha i-ROS_IP ekhelini lomhubhe ukuguqulwa okuncane. Noma yini oyikhethayo, yibhale phansi kuzo zombili iziphetho, ngoba umshicileli nobhalisile abangavumelani ngobunikazi bazoxoxisana bese behluleka ukuxhuma.

Yima lapha uma i-URI emenyezelwe isebenzisa ikheli okungekho mlingani ongalihola. Awukho umsebenzi wodonga lomlilo ozolungisa igama elixazululwa endaweni yokuxhumana engalungile.

Isinyathelo 3: yenza ikheli elimenyezelwe lixazululeke futhi liholelwe

Njengoba i-URI isesandleni, hlola ukufinyeleleka kusuka kumgcini wobhalisile hhayi kusuka erobhothini. Imbobo ye-TCPROS ikhethwa phakathi nengxoxo, ngakho ukuhlola kwasekuqaleni okuwusizo yimbobo ye-XMLRPC, futhi ukuhlola kwakamuva okuwusizo isokhethi esisunguliwe. Umzila okhona ohlangothini olulodwa kuphela uyiphutha elivamile kuma-VPN aholwayo, futhi indlela yokubuya ibalulekile njengendlela yokuya.

ip route get 10.70.0.2
nc -vz 10.70.0.2 33911
ss -tnp dst 10.70.0.2

Indawo yokuxhumana ye-TUN eholelwe ithwala lezi zingxoxo ze-IP ngaphandle kokunweba ingxenye ye-Ethernet yerobhothi, okuyiyo ngokuvamile umqhubi okude ayifunayo. Uma okuthile kusitaki kuncike ekusakazeni noma ku-multicast esikhundleni salokho, leyo mfuneko kufanele ihlolwe ngokwehlukana; ukuguqula umhubhe ube yi-TAP ukuze kwenelise ithuluzi elilodwa kwandisa inethiwekhi kuwo wonke umhlanganyeli.

Yima lapha uma umzila noma indlela yokubuya ingekho. Umshicileli ophendula kumgcini wakhe kodwa ongafinyeleleki kusuka esiteshini sokusebenza unenkinga yokuhola, hhayi inkinga ye-ROS.

Isinyathelo 4: vumela ingxoxo yabalingani futhi ubheke isihloko esisodwa

Vula kuphela izimbobo ezidingwa ingxoxo ekuvunyelwene ngayo, futhi ukhawulele umthetho ngamunye kubahlanganyeli abamenyezelwe. Isilaleli se-master akusiso isidlulisi somthwalo wezihloko, ngakho ukuvumela sona kuphela kushiya iphoyinti lokugcina lomshicileli livaliwe. Gcina izilaleli ze-ROS emkhawulweni we-VPN eyimfihlo esikhundleni sokuziveza ku-inthanethi yomphakathi.

rostopic hz /chatter
rostopic echo -n1 /chatter
rosnode ping /talker

Bheka isihloko esisodwa esingenabungozi kusuka kumshicileli wangempela kuye kobhalisile wangempela futhi uqinisekise iphoyinti lokugcina elimenyezelwe nendlela yempendulo. Umlayezo owodwa ukhombisa ukuthi indlela iyasebenza; izinga elizinzile likhombisa ukuthi ihlala ivuliwe. Gcina ukulawulwa kwama-akhwetha kanye nokuhlolwa kokuphepha ngaphandle kwalokhu kuhlolwa kwenethiwekhi kuphela, ngoba isihloko esisebenzayo asiqinisekisi irobhothi elisebenzayo. Bhala inguqulo ye-ROS kanye nombhangqwana wamaphoyinti okugcina owabonayo, ukuze umuntu olandelayo ahlukanise ushintsho lwetopolojiji nokuhlehla.

Uhlu lokuhlola luphela uma i-URI emenyezelwe ifinyeleleka kusuka kubhalisile, imbobo ekuvunyelwene ngayo ivulekele lowo mlingani kuphela, isihloko esisodwa esimenyezelwe sihamba, futhi amanani emvelo abhaliwe kubo bobabili abagcini. I-ROS 1 endala ngeke ithole izilungiso kule ndawo, ngakho umbhalo uyona ngxenye eqhubeka nokusebenza ngemva kokuba abantu beseshintshile.

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