|Note: This tutorial assumes that you have completed the previous tutorials: Download and install wifi_comm.|
|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.|
How to run wifi_commDescription: This tutorial guides you through the process of running wifi_comm.
Tutorial Level: BEGINNER
Before you can start wifi_comm you need to get olsrd running. To do so run the following command on a terminal window:
sudo olsrd -i ra0
Your network interface might be something like ra0 or wlan0. You can use ifconfig to find out.
Now that olsrd is running you will start wifi_discovery_node. This will basically tap to olsrd and fetch the table of IP addresses currently available and publish it as a ROS msg. On a new terminal window...
rosrun wifi_comm wifi_discovery_node
To run the Hello World example that comes with wifi_comm just open a new terminal and run the following node:
rosrun wifi_comm wifi_comm_example
Now to complete the tutorial you should repeat the steps for as many computers as you like. As computers come online they should start exchanging Hello World messages!
Congratulations! You now know how to run wifi_comm!!!
Keep in mind that you should not use this to share topics with very high traffic such as /tf. Furthermore should you need to reduce the data flow over the WiFi link you could use throttle for example.