[ros-users] Current best practice for multiple interfaces

Bil Morris bill at iheartengineering.com
Wed Jan 16 16:40:30 UTC 2013

On 01/16/2013 04:11 AM, Piyush wrote:
> +1 for binding to INADDR_ANY, though I suspect there are a number of
> ramifications I am not aware about right now. Thanks for pointing out
> your package Bill, it looks like a significant improvement over Thomas
> Moulard's original.
He has provided significant help with feedback and testing. Please
submit bugs and feature requests on Github


> I don't know how well wifi outages have been tested on the gateway
> framework as of right now, but it is something that will definitely be
> done over the next few months.

Based on my experience, and the multimaster talk from ROSCon 2012[1] ROS
does not handle WiFi
outages well at all. http://www.youtube.com/watch?v=Mr2AlP4ilDc

> Best,
> Piyush
> On Wed, Jan 16, 2013 at 7:03 AM, Michael Gratton <mikeg at cse.unsw.edu.au> wrote:
>> On 16/01/13 06:57, Bil Morris wrote:
>>> I am not sure why the XML RPC server does not support binding to
>>> INADDR_ANY instead of a specific ip address.
>> Yeah, this would be great from a systems perspective! Why doesn't it do
>> that already?
>>> If the server could be modified to connect to all interfaces and rebind
>>> the sockets when the xmlrpc server receives
>>> a SIGHUP, then I think you could take something like our upstart scripts
>>> [1] and modify them to start ROS on boot and
>>> and send SIGHUP to ROS whenever the WiFi interface bounces.
>> IIRC if you listen on any socket, you don't need to re-bind as
>> interfaces come and go, so I don't think even sending a signal would
>> even be necessary.
>> For people that want a robot to "just work" as soon as you switch it on,
>> this would make life much easier.
>> //Mike
>> --
>> Michael Gratton <http://www.cse.unsw.edu.au/~mikeg/>
>> UNSW School of Computer Science and Engineering.
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