The setup steps for multi-machine configuration (master node on laptop + raspberry pi node) will be included in this tutorial.
It’s very common to run multiple machine on the same ROS network. There’re some network settings to be configured before nodes can communicate to each other.
In ROS1, there should be a master node in every ROS network. Every topic or command will send to master node first and then deliver to other nodes that needs. So you should decide which node is your master node. In my configuration, I use laptop running Ubuntu Mate with ROS melodic installed as master node, and the RPi will start a publisher node publishing messages.
You can explictly specify IP or use hostname for node discovery. If hostname works in your system, I would recommend to use hostname. Otherwise, you’ll need to set the environment variables everytime when your network environment is changed. This tutorial will cover both methods.more >>