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Note: This tutorial assumes that you have completed the previous tutorials: Create Concert Mode Launcher.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Join Concert as a Client

Description: describes how to join a concert as a client

Keywords: rocon concert solution

Tutorial Level: BEGINNER

Next Tutorial: Teleop a robot via Concert

Overview

This tutorial describes what happens if client joins in a concert, and how to introspect.

Execution

Concert Bringup

Please refer to Bring up a Concert tutorial to start your concert.

Client Join

This assumes that you have created concert_client.launch in previous tutorial. Also you can check out robot starter template

 # From your robot,
 > roslaunch my_robot_launcher concert_client.launch --screen

Note that robot's ROS_MASTER_URI must be different from concert's ROS_MASTER_URI.

Check

Concert Conductor Graph

concert_conductor_graph is an concert introspection tool that visualises the status of clients who joined the concert. If a client has joined the concert, you should see the following in conductor graph.

 # In the Concert ROS MASTER
 > concert_conductor_graph

alt text

Terminal Outputs

Concert Side alt text

Client Side

alt text

TroubleShooting

Please check out Rocon TroubleShooting page if you see any difficulty while testing.

What's Next?


2019-10-12 13:01