The ports that the FMS allows us to use are ports 5800-5810
. More details can be found at https://wpilib.screenstepslive.com/s/currentCS/m/troubleshooting/l/705152-fms-whitepaper
For ROS, we will be using Port 5800
. To change the port, the following changes must be made in the ~/.bashrc
file of every device connected to ROS
- Change the value of the environment variable
ROS_MASTER_URI
from[roscore-ip]:11311
to[roscore-ip]:5800
- At the end of the
~/.bashrc
file, add the following line:alias roscore='roscore -port 5800'
Port 5801
Port 5802
Port 5803