Hands-On ROS for Robotics Programming

ROS master running on the local computer

Since, in this chapter, you will only be using your local machine, you need to reconfigure the ROS master URI so that it does not point to the robot but to your local computer. Then, open your local .bashrc file and comment out the line at the end that specifies the URL where the ROS master can be found:

$ nano ~./bashrc   ...   export ROS_HOSTNAME=rosbot.local  # THIS LINE IS NOW A COMMENT # export ROS_MASTER_URI=http://gopigo3.local:11311

Close all Terminals, open a new one, and check the ROS_MASTER_URI variable:

$ echo $ROS_MASTER_URI    http://localhost:11311

You should find that the environment variable has reverted to the default server (localhost) and default port (11311). Now, we are ready to switch ...