ROS　ジョイスティック　遠隔総操作　数値表示

前提・実現したいこと

ROS初心者です。

ROSをインストールした2台のPCを使い、
1台目のROSにはジョイスティックが接続され、ジョイスティックの操作量を
2台目のPCにプロンプト上で表示したいのです。
実行するにあたって、ジョイスティックの情報を送信と受信・操作量表示のノードを
使用しています。
言語はpythonを使用しています。

発生している問題・エラーメッセージ

rqt_graphでpublisherとsubscriberはトピックで接続されていることは確認できているのですが、
roscoreを実行しても、数値表示側のPCのプロンプトには表示されないです。
どなたか。解決策をご存じないでしょうか？

ジョイスティック操作側

#ジョイスティック操作側#
import rospy 
from sensor_msgs.msg import Joy
from geometry_msgs.msg import Twist

class JoyTwist(object):
	def __init__(self):
		self._joy_sub = rospy.Subscriber('joy', Joy, self.joy_callback, queue_size=1)
		self._twist_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)

	def joy_callback(self, joy_msg):
		if joy_msg.buttons[0] == 1:
		 twist = Twist()
		 twist.linear.x = joy_msg.axes[1] * 0.5
		 twist.angular.z = joy_msg.axes[0] * 1.0
		 self._twist_pub.publish(twist)
		 
if __name__ == '__main__':
	rospy.init_node('joy_twist')
	joy_twist = JoyTwist()
	rospy.spin()

###操作量表示側


＃!/usr/bin/env python

import rospy
from std_msgs.msg import String

from sensor_msgs.msg import Joy
from geometry_msgs.msg import Twist

class JoyTwist(object):
	def callback(twist):
		rospy.loginfo(twist.angular.z)

	rospy.init_node('JoyC_subscribe')
	sub = rospy.Subscriber('cmd_vel', Twist, callback)
	rospy.spin()

試したこと

操作量表示側の方で、rospy.loginfoやprintを使ってtwist.angular.z やtwist.linear.xの値を表示しようと
試みました。

補足情報（FW/ツールのバージョンなど）

ROSバージョンkinetic
ubuntu:16.04

行動規範の内容に同意します

回答1件

IPアドレス周りは設定されていますか？

ROS講座20 複数のPCでROS接続1

投稿2019/06/24 01:22

Ryupe

総合スコア426

K-KK

2019/06/24 15:59

Ryupe様返信いただきありがとうございます。 IPアドレスは設定しております。(下記ジョイスティック情報「送信側」と「受信側」) またroscoreは192.168.3.4(ジョイスティックが接続されているPC)で行い、pythonノードが格納されているディレクトリまで進み、実行しております。受信側はroscoreは起動せず、情報表示用のノードが格納されているディレクトリまで進み。実行しております。〜〜〜送信側〜〜〜 # ~/.bashrc: executed by bash(1) for non-login shells. # see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) # for examples # If not running interactively, don't do anything case $- in *i*) ;; *) return;; esac # don't put duplicate lines or lines starting with space in the history. # See bash(1) for more options HISTCONTROL=ignoreboth # append to the history file, don't overwrite it shopt -s histappend # for setting history length see HISTSIZE and HISTFILESIZE in bash(1) HISTSIZE=1000 HISTFILESIZE=2000 # check the window size after each command and, if necessary, # update the values of LINES and COLUMNS. shopt -s checkwinsize # If set, the pattern "**" used in a pathname expansion context will # match all files and zero or more directories and subdirectories. #shopt -s globstar # make less more friendly for non-text input files, see lesspipe(1) [ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" # set variable identifying the chroot you work in (used in the prompt below) if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then debian_chroot=$(cat /etc/debian_chroot) fi # set a fancy prompt (non-color, unless we know we "want" color) case "$TERM" in xterm-color|*-256color) color_prompt=yes;; esac # uncomment for a colored prompt, if the terminal has the capability; turned # off by default to not distract the user: the focus in a terminal window # should be on the output of commands, not on the prompt #force_color_prompt=yes if [ -n "$force_color_prompt" ]; then if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then # We have color support; assume it's compliant with Ecma-48 # (ISO/IEC-6429). (Lack of such support is extremely rare, and such # a case would tend to support setf rather than setaf.) color_prompt=yes else color_prompt= fi fi if [ "$color_prompt" = yes ]; then PS1='${debian_chroot:+($debian_chroot)}[\033[01;32m]\u@\h[\033[00m]:[\033[01;34m]\w[\033[00m]$ ' else PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w$ ' fi unset color_prompt force_color_prompt # If this is an xterm set the title to user@host:dir case "$TERM" in xterm*|rxvt*) PS1="[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a]$PS1" ;; *) ;; esac # enable color support of ls and also add handy aliases if [ -x /usr/bin/dircolors ]; then test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" alias ls='ls --color=auto' #alias dir='dir --color=auto' #alias vdir='vdir --color=auto' alias grep='grep --color=auto' alias fgrep='fgrep --color=auto' alias egrep='egrep --color=auto' fi # colored GCC warnings and errors #export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' # some more ls aliases alias ll='ls -alF' alias la='ls -A' alias l='ls -CF' # Add an "alert" alias for long running commands. Use like so: # sleep 10; alert alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]+\s*//;s/[;&|]\s*alert$//'\'')"' # Alias definitions. # You may want to put all your additions into a separate file like # ~/.bash_aliases, instead of adding them here directly. # See /usr/share/doc/bash-doc/examples in the bash-doc package. if [ -f ~/.bash_aliases ]; then . ~/.bash_aliases fi # enable programmable completion features (you don't need to enable # this, if it's already enabled in /etc/bash.bashrc and /etc/profile # sources /etc/bash.bashrc). if ! shopt -oq posix; then if [ -f /usr/share/bash-completion/bash_completion ]; then . /usr/share/bash-completion/bash_completion elif [ -f /etc/bash_completion ]; then . /etc/bash_completion fi fi export ROS_HOSTNAME=192.168.3.16 export ROS_MASTER_URI=http://192.168.3.4:11311 source /opt/ros/kinetic/setup.bash source ~/catkin_ws/devel/setup.bash 〜〜〜受信側〜〜〜 # ~/.bashrc: executed by bash(1) for non-login shells. # see /usr/share/doc/bash/examples/startup-files (in the package bash-doc) # for examples # If not running interactively, don't do anything case $- in *i*) ;; *) return;; esac # don't put duplicate lines or lines starting with space in the history. # See bash(1) for more options HISTCONTROL=ignoreboth # append to the history file, don't overwrite it shopt -s histappend # for setting history length see HISTSIZE and HISTFILESIZE in bash(1) HISTSIZE=1000 HISTFILESIZE=2000 # check the window size after each command and, if necessary, # update the values of LINES and COLUMNS. shopt -s checkwinsize # If set, the pattern "**" used in a pathname expansion context will # match all files and zero or more directories and subdirectories. #shopt -s globstar # make less more friendly for non-text input files, see lesspipe(1) [ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" # set variable identifying the chroot you work in (used in the prompt below) if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then debian_chroot=$(cat /etc/debian_chroot) fi # set a fancy prompt (non-color, unless we know we "want" color) case "$TERM" in xterm-color|*-256color) color_prompt=yes;; esac # uncomment for a colored prompt, if the terminal has the capability; turned # off by default to not distract the user: the focus in a terminal window # should be on the output of commands, not on the prompt #force_color_prompt=yes if [ -n "$force_color_prompt" ]; then if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then # We have color support; assume it's compliant with Ecma-48 # (ISO/IEC-6429). (Lack of such support is extremely rare, and such # a case would tend to support setf rather than setaf.) color_prompt=yes else color_prompt= fi fi if [ "$color_prompt" = yes ]; then PS1='${debian_chroot:+($debian_chroot)}[\033[01;32m]\u@\h[\033[00m]:[\033[01;34m]\w[\033[00m]$ ' else PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w$ ' fi unset color_prompt force_color_prompt # If this is an xterm set the title to user@host:dir case "$TERM" in xterm*|rxvt*) PS1="[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a]$PS1" ;; *) ;; esac # enable color support of ls and also add handy aliases if [ -x /usr/bin/dircolors ]; then test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" alias ls='ls --color=auto' #alias dir='dir --color=auto' #alias vdir='vdir --color=auto' alias grep='grep --color=auto' alias fgrep='fgrep --color=auto' alias egrep='egrep --color=auto' fi # colored GCC warnings and errors #export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' # some more ls aliases alias ll='ls -alF' alias la='ls -A' alias l='ls -CF' # Add an "alert" alias for long running commands. Use like so: # sleep 10; alert alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]+\s*//;s/[;&|]\s*alert$//'\'')"' # Alias definitions. # You may want to put all your additions into a separate file like # ~/.bash_aliases, instead of adding them here directly. # See /usr/share/doc/bash-doc/examples in the bash-doc package. if [ -f ~/.bash_aliases ]; then . ~/.bash_aliases fi # enable programmable completion features (you don't need to enable # this, if it's already enabled in /etc/bash.bashrc and /etc/profile # sources /etc/bash.bashrc). if ! shopt -oq posix; then if [ -f /usr/share/bash-completion/bash_completion ]; then . /usr/share/bash-completion/bash_completion elif [ -f /etc/bash_completion ]; then . /etc/bash_completion fi fi export ROS_HOSTNAME=192.168.3.4 export ROS_MASTER_URI=http://192.168.3.4:11311 source /opt/ros/kinetic/setup.bash source ~/catkin_ws/devel/setup.bash

K-KK

2019/06/24 16:00

上のプログラムは、.bashrcファイルです。

行動規範の内容に同意します