# Trouble connecting to the amiga Bot via the ROS bridge

**URL:** <https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143>\
**Category:** development\
**Tags:** amiga, challenge-2023, ros, amiga-brain\
**Created:** [March 29, 2023, 1:05am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143 "2023-03-29T01:05:12Z")\
**Posts on this page:** 9\
**Page:** 1

<div class="post-metadata">

**Author:** ![hoshinotsuki](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hoshinotsuki/32/53_2.png) [@hoshinotsuki](https://discourse.farm-ng.com/u/hoshinotsuki)\
**Post date:** [March 29, 2023, 1:05am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/1 "2023-03-29T01:05:12Z")

</div>

I was able to setup the computer so that the ROS master was the Amiga robot and during the video I recall someone opening a new terminal to connect to the robot and control it through the pc or receive the values. I opened a secondary terminal and followed the sets but set the ROS\_IP to be the IP address of the computer I am on but when that terminal connects it immediately terminates the connection. Is this due to me using the same computer that I used to setup the ROS master terminal for or is there a step I am missing?

 ![AmigaConnectionIssue](https://canada1.discourse-cdn.com/flex031/uploads/farm_ng/original/1X/45d8fbe327b39a64437aa58be68cc1d41048e018.png)

---

<div class="post-metadata">

**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [March 29, 2023, 2:18am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/2 "2023-03-29T02:18:27Z")

</div>

Hello,

Which method are you trying to run, 1 or 2?

From [GitHub - farm-ng/amiga-ros-bridge](https://github.com/farm-ng/amiga-ros-bridge#usage-options:)

> ### Usage options
> 
> There are currently 3 methods for using the `amiga_ros_bridge`:
> 
> 1. Running the `amiga_ros_bridge` (and ROS master) on the Amiga, with other ROS nodes on your PC connected to the Amiga ROS master
> 
> - Look for sections tagged as **`[Method 1]`**
> 
> 1. Running the `amiga_ros_bridge` (and ROS master) on your PC, connected to the Amiga canbus service over gRPC
> 
> - Look for sections tagged as **`[Method 2]`**
> 
> 1. Running the `amiga_ros_bridge` (and ROS master) on your PC, using the mock server
> 
> - Look for sections tagged as **`[Method 3]`**

* * *

Since you set the `ROS_MASTER_URI` & `ROS_IP` I assume you you are trying method 1.  
However, your screenshot looks like you are launching the ROS bridge node from your PC.

You only need one ROS bridge running. So if it is running on the amiga (method 1), you can just connect to that ROS node using the topics and not run another ROS bridge.

If you are trying method 2, with the ROS bridge running on the PC and not on the Amiga, then you do not need to set the `ROS_MASTER_URI` & `ROS_IP`. You do however, need to set the host IP address for the ROS bridge to find the canbus service on the network. See this section: [GitHub - farm-ng/amiga-ros-bridge](https://github.com/farm-ng/amiga-ros-bridge#ros-bridge-on-your-pc)

– Kyle

---

<div class="post-metadata">

**Author:** ![Nicholas\_Amely](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/nicholas_amely/32/39_2.png) [@Nicholas\_Amely](https://discourse.farm-ng.com/u/Nicholas_Amely)\
**Post date:** [April 14, 2023, 4:00am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/3 "2023-04-14T04:00:01Z")

</div>

Hi, Kyle.  
Thank you for the illustration! It works!  
However, when we use our PC to access ROS bridge, we are unable to see these four items.  
/amiga/cmd\_vel  
/amiga/vel  
/rosout  
/rosout\_agg

 ![image](https://canada1.discourse-cdn.com/flex031/uploads/farm_ng/original/1X/d8c8239f1d4225693296bd4a781ae04eb366ed0c.png)  
On the contrary, we only see two of them.  
 ![image](https://canada1.discourse-cdn.com/flex031/uploads/farm_ng/original/1X/5602742b955a4021add24e8f01933d4f8867a9c7.png)  
Is there a step I am missing?

---

<div class="post-metadata">

**Author:** ![hoshinotsuki](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hoshinotsuki/32/53_2.png) [@hoshinotsuki](https://discourse.farm-ng.com/u/hoshinotsuki)\
**Post date:** [April 14, 2023, 4:06am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/4 "2023-04-14T04:06:00Z")

</div>

![image](https://canada1.discourse-cdn.com/flex031/uploads/farm_ng/original/1X/da3001fc3f6968d63f639114aa0b089457663ca3.png)

---

<div class="post-metadata">

**Author:** ![hoshinotsuki](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hoshinotsuki/32/53_2.png) [@hoshinotsuki](https://discourse.farm-ng.com/u/hoshinotsuki)\
**Post date:** [April 14, 2023, 4:28am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/5 "2023-04-14T04:28:00Z")

</div>

What I can differentiate ours from live stream is that there are two more lines at the bottom.

 ![image](https://canada1.discourse-cdn.com/flex031/uploads/farm_ng/original/1X/6499a46e037d1b73dc1dea56012e6b718322224e.png)  
Did it make any difference on rostopic?

Thank you in advance!

---

<div class="post-metadata">

**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [April 14, 2023, 4:19pm UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/6 "2023-04-14T16:19:52Z")

</div>

Hello,

Yes it looks like the ROS bridge is no longer running. What is the state of the canbus service during all of this?

– Kyle

---

<div class="post-metadata">

**Author:** ![hoshinotsuki](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hoshinotsuki/32/53_2.png) [@hoshinotsuki](https://discourse.farm-ng.com/u/hoshinotsuki)\
**Post date:** [April 18, 2023, 12:31am UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/7 "2023-04-18T00:31:49Z")

</div>

Hi, Kyle!  
Hope you had a great weekend.

I am not sure how to check the state of the canbus service.  
What did you mean by it? Could you please give us some instructions on that? We really need your guide. Thanks a lot.

–Luna

---

<div class="post-metadata">

**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [April 18, 2023, 1:54pm UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/8 "2023-04-18T13:54:23Z")

</div>

Hi Luna,

Please see this thread in which we went through the ros bridge debug steps in detail:

> [@Amiga not responding to rqt\_robot\_steering](https://discourse.farm-ng.com/t/amiga-not-responding-to-rqt-robot-steering/152/4):
>
> OK, let’s get to the bottom of it! I’ll need some more information. What is the installed version on your brain under “Current” (Settings gear → System Updates)? What is the version on your dashboard under “Dashboard firmware” (Settings gear → id)? Are you getting messages in the second ROS container terminal when you run rostopic echo /amiga/cmd\_vel ? What is the state of canbus service on the settings page? It should be yellow | IDLE | green when the ros bridge is not running, then becom…

– Kyle

---

<div class="post-metadata">

**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [April 19, 2023, 8:08pm UTC](https://discourse.farm-ng.com/t/trouble-connecting-to-the-amiga-bot-via-the-ros-bridge/143/9 "2023-04-19T20:08:02Z")

</div>

Hi all,

Luna and I worked together to upgrade the Amiga in question to AmigaOS v1.2.2+ and the dashboard to v0.1.9+

As mentioned in: [Amiga not responding to rqt\_robot\_steering - #18 by kylecoble](https://discourse.farm-ng.com/t/amiga-not-responding-to-rqt-robot-steering/152/18) :

> in order to have the ROS bridge functioning, you’ll need to have all of the following up to the following minimum versions:
> 
> - Dashboard firmware `v0.1.9+`
> - See: [Dashboard Firmware v0.1.9 released](https://discourse.farm-ng.com/t/dashboard-firmware-v0-1-9-released/154)
> 
> - AmigaOS `v1.2.2+`
> - See: [AmigaOS v1.2.0 released](https://discourse.farm-ng.com/t/amigaos-v1-2-0-released/160)

For more details, see:

> [@Amiga not responding to rqt\_robot\_steering](https://discourse.farm-ng.com/t/amiga-not-responding-to-rqt-robot-steering/152/18):
>
> @Shaswati_Behera @Amlan_Balabantaray Thank you for working through this with us! A summary of what we’ve found today is in order to have the ROS bridge functioning, you’ll need to have all of the following up to the following minimum versions: Dashboard firmware v0.1.9+ See: [Dashboard Firmware v0.1.9 released](https://discourse.farm-ng.com/t/dashboard-firmware-v0-1-9-released/154) AmigaOS v1.2.2+ See: [AmigaOS v1.2.0 released](https://discourse.farm-ng.com/t/amigaos-v1-2-0-released/160) It is also recommended to have pulled and built the latest code from [amiga-ros-bridge](https://github.com/farm-ng/amiga-ros-bridge) & the updated ROS docker container announced …

Please let us know if anyone else has trouble with these upgrades.

– Kyle