ros-roslaunch启动多台机器ros节点

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本文介绍如何在两台Ubuntu16.04系统上通过ROS进行远程节点启动的配置及解决SSH连接问题的方法。涉及ROS环境变量设置、launch文件编写、SSH密钥算法调整等内容。

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两台电脑，分别为p11和p12，环境均为ubuntu16.04，launch代码如下

<launch>
  <machine name="p12" address="p12" env-loader="/home/nvidia/setup.sh" user="nvidia"/>
  <machine name="p11" address="p11" env-loader="/home/nvidia/setup.sh" user="nvidia"/>
  <node machine="p12" name="test_node" pkg="projection" type="test_node" output="screen">
  </node>
</launch>

On p12, the /home/nvidia/setup.sh :

#!/usr/bin/env bash
#export p11=192.168.10.37
#export p12=192.168.10.54
#export fangli0=192.168.10.42
export ROS_IP=p12
export ROS_MASTER_URI=p11:11311
export ROSLAUNCH_SSH_UNKNOWN=1

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/lib
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/lib/pkgconfig/
export ROS_MASTER_URI=http://p11:11311
#export ROS_IP=192.168.10.54
export ROS_HOSTNAME=p12

# for lanemarking_liuli
export LD_LIBRARY_PATH=/home/nvidia/Liuchao/local/lib:${LD_LIBRARY_PATH}

#. /home/nvidia/setup.sh
source /home/nvidia/.bashrc
source /opt/ros/kinetic/setup.bash
source /home/nvidia/fangli/perception/code/perception_ros/devel/setup.bash
exec "$@"

attention please:

ROS has a flaw (feature?) in that it uses a library to so SSH, rather than the usual SSH client. This library does not support the default key algorithm used by the typical SSH client. This means that even though you can SSH to the remote machine, ROS cannot, because the key algorithm isn’t supported.

The fix is to remove the stored key in ~/.ssh/known_hosts, then SSH again to the remote machine, specifying the -oHostKeyAlgorithms=’ssh-rsa’ command-line option to force the use of the the RSA algorithm. Once this is done ROS can connect to the remote machine.
http://answers.ros.org/question/244060/roslaunch-ssh-known_host-errors-cannot-launch-remote-nodes/?answer=244064#post-id-244064