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port-config.md

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Port Assignments

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

Ros

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

  1. Change the value of the environment variable ROS_MASTER_URI from [roscore-ip]:11311 to [roscore-ip]:5800
  2. At the end of the ~/.bashrc file, add the following line: alias roscore='roscore -port 5800'

gRPC:

Port 5801

Video Streaming

Port 5802

Health Check

Port 5803