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Running on 2 computers
Running simulations on 2 separate computers (one running Windows, the other running Linux) can have significant performance advantages over running Linux on a virtual machine, most notably in applications where GPU processing is required by programs running on Linux. Here is a brief guide to configuring the simulation platform to run across two machines.
- 1.Ensure both machines are on the same local network. An ethernet connection is highly recommended.
- 2.First, find your Windows machine's local IP address. In the Unity editor on your Windows machine, locate the 'Force Control Manager' component and set it's IP address parameter.
- 3.On your Linux machine, open the ros_clients node's config.yaml (catkin_ws/src/ros_clients/config/config.yaml), and use the same IP address as step 2.
- 4.Secondly, find your Linux machine's local IP address. On your Windows machine, navigate to the Sensor.cs file (Gemini\Gemini-Unity\Assets\Gemini\Scripts\EMRSensors\Core\Sensor.cs). Change the IP address on line 18 to the IP address of your Linux machine.
- 5.On your Linux machine, open the ros_adapter node's config.yaml (catkin_ws/src/ros_adapter/config/config.yaml), and use the same IP address as step 4.
After launching the ROS nodes, Gemini should be ready to run.