drcsim: keyboard_teleop hangs at line 75 self.client.wait_for_server()

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/chatter works as expected if published on sim (remote), and then echo'd on either sim or ocs (local).

However, if I pub /chatter on ocs, then echo on ocs works, but echo on sim does not. However, on sim, it does see that the /chatter topic is active. Below is the error message from the remote sim machine, when the /chatter topic was published on the ocs local machine :

ubuntu@sim-xx:~$ rostopic echo /chatter WARNING: no messages received and simulated time is active. Is /clock being published? ^Cubuntu@sim-xx:~$ rostopic list | grep chatter /chatter ubuntu@sim-xx:~$

This helps explain a solution, but I still see the same problem when running across machines using Cloudsim. Here is what I tried to isolate the issue: on sim machine,

$ roslaunch atlas_utils qual_task_1, 
terminal 2 $ rosrun atlas_msgs actionlib_server, 
terminal 3 $ roscd to : atlas_utils/scripts
$./keyboard_teleop.py

the above works as expected, I can control atlas with keyboard telop running on sim machine, gzserver running on sim, and watch atlas using gzclient on local machine.

Now trying the same thing but running keyboard_teleop on local machine :

in ~/vrc_credentials/router_OSRF_VRC_Constellation_37$ . ros.bash
$ roscd atlas_utils/scripts
$ ./keyboard_teleop.py 
 -->  [INFO] [WallTime: 1370135686.288958] [540.776000] Waiting for atlas/bdi_control

now if I Ctrl-C out of this, and then in a second local terminal window (after . ros.bash)

terminal 2  $ rosrun atlas_msgs actionlib_server  
this runs as expected on the local machine, and the actionlib server node is shut down on the sim machine as shown by: [ WARN] [1370135894.701704488, 722.701000000]: Shutdown request received.
[ WARN] [1370135894.701758224, 722.701000000]: Reason given for shutdown: [new node registered with same name]

now I try again to run on the local machine:

teminal 1 $./keyboard_teleop.py
I still end up waiting for the actionlib_server as shown by :
[INFO] [WallTime: 1370136073.442231] [878.275000] Waiting for atlas/bdi_control

so in conclusion, I can run keyboard teleop remotely on the sim machine as I can on my local machine, but if I split up the simulation on the sim machine, and keyboard teleop on the local machine, I am not able to get past keyboard_teleop looking for the actionlib_server testing both cases of the actionlib_server running on either the sim or the local.

Problem solved :

Your debugging hints helped quite a bit :

ubuntu@sim-37:~$ rostopic info /chatter
Type: std_msgs/String

Publishers: 
 * /rostopic_12677_1370540962545 (http://10.0.0.51:46246/)
 * /rostopic_11096_1370542055112 (http://ubuntu:46317/)

Subscribers: 
 * /rostopic_15784_1370541247997 (http://10.0.0.51:60880/)
 * /rostopic_11085_1370542031830 (http://11.8.0.2:47065/)

While ros.bash on OCS did change the ROS_IP, and also ROS_MASTER_URI, it appears that we also need to change : ROS_HOSTNAME. in the OCS terminal I changed ROS_HOSTNAME for ubuntu to : 10.8.0.2, and now the OCS and sim computers communicate as expected. I will now edit the ros.bash file located in the router_OSRF_VRC_Constellation_XX directory.