Is there any way to let controller node the other site from simulator including state publisher ?

[swgu931]

I want to try to test wireless network performance with inverted pendulum, I believe it could be intuitive perception and understanding in case that the controller signal coming into pendulum would be come from sever side, let's say cloud.

So I am looking for the way to let controller node the other location but in the same network at the moment, for this time making the problem be simple.
how to make it to launch controller node in the host computer A, the other nodes in the host computer B ?

I hope this description can be clear to you and help me.

Thanks
Sean,

[carlossvg]

Hi @swgu931, you could do this by running each executable in separate processes. Instead of using the pendulum demo bringup or the ros2 run pendulum_demo pendulum_demo command you will have to run the standalone driver and controller executables. For example, you can run the controller in host computer A as follows:

ros2 run pendulum_controller pendulum_controller_exe --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True

Hope this helps.

[swgu931]

First of all, I appreciate your work which help me to develop something, which is not that real-time thing though.

I did try what you recommended as a example on the docker built by me

ros2 run pendulum_controller pendulum_controller_exe --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True

However it won't works, it showed up the error below.

root@pendulum-robot-all:~/ros2_ws# ros2 run pendulum_controller pendulum_controller_exe
[INFO] [1644217416.785463936] [pendulum_demo]: expected [string] got [not set]
root@pendulum-robot-all:~/ros2_ws# ros2 run pendulum_controller pendulum_controller_exe --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True
[INFO] [1644217483.492888621] [pendulum_demo]: expected [string] got [not set]
root@pendulum-robot-all:~/ros2_ws# 

Aside from this work, I did two docker images for controller and model to be isolated, it works perfectly because the one built with ROS2 packages excluded the other, for example, model image don't include controller packages.
I will test more then I will uploaded into docker hub and brief manual.

Thanks for your help.

[carlossvg]

You have to pass the parameter file too:

ros2 run pendulum_controller pendulum_controller_exe --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True
 --ros-args --params-file src/pendulum/pendulum_bringup/params/pendulum.param.yaml

Hope this helps.