In this Section, we will connect two OpenRDK processes (agents). This technique can be used for many purposes, but one of the most common is to connect a RConsole, e.g., on your laptop, to a remote RAgent, e.g., running on the robot.
This example we will run both agents on the same machine. First of all, we need two configuration files, one for each agent. For the RAgent, we use the
The "yellow pages" file
In OpenRDK, each agent has a name that is unique in the domain. The agent name is read from the configuration file. For example, if you open
In order to find each other, OpenRDK agents use a file with network address information for each name. This file is named
In the next section, we will run two agents: one uses the
In case you want to have the two agents on two different machines, you should copy the
In future versions of OpenRDK, dynamic yellow pages will be implemented, but so far you have to write addresses for all agents in the yellow pages file (and, if you are running the agents on different machines, you have to provide the same
Running the two processes
Now we will run two agents, one with the
Open two consoles, and run the RAgent in the first:
$ ragent2 -c ra-stringWriter.config
and the RConsole in the second:
$ rconsoleqt -c rq.config
Now you have the two processes running on your PC. The RConsole GUI is empty, you can connect to the "remote" RAgent by choosing "Connect to a remote repository" entry of the "Network" menu. In the text box with the name of the agent to connect to, write "