You need your computer to be able to connect to Jackal’s ROS master. This means you need to set the jackal as ROS master. In order to do this you need to do the following:
Open a new terminal on your machine and enter:
ifconfig
Here you need to find your Ethernet IP. It will be something like 192.168.x.x
eth0 Link encap:Ethernet HWaddr 09:00:12:90:e3:e5
inet addr:192.168.1.29 Bcast:192.168.1.255 Mask:255.255.255.0
inet6 addr: fe80::a00:27ff:fe70:e3f5/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:54071 errors:1 dropped:0 overruns:0 frame:0
TX packets:48515 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:22009423 (20.9 MiB) TX bytes:25690847 (24.5 MiB)
Interrupt:10 Base address:0xd020
Then in an ssh-ed window type ifconfig again and find the Ethernet IP which is also 192.168.y.y
Then open a new terminal on your machine and type:
sudo nano /etc/hosts
Here you need add the jackal IP and the host name for the jackal. For example like :
192.168.y.y cpr-jackal-0001
where you replace .y.y with what you got with ifconfig in the ssh-ed window. After this you can create a simple bash script called remote-jackal.sh with only the following lines inside:
export ROS_MASTER_URI=http://cpr-jackal-0001:11311 # Jackal's hostname
export ROS_IP=192.168.x.x # Your laptop's ethernet IP address
where you replace .x.x with what you got with ifconfig in the first step.
Now for every terminal that you want to use/connect with the jackal's ROS master you just need to source the remote-jackal.sh file you created like:
source remote-jackal.sh
After this when you type rostopic list your should get the published topics.
