I'm asking this question because I'm trying to get LiDAR sensor values from a home-made robot using a Raspberry Pi and run SLAM on a PC, but I'm having trouble running it.

Raspberry Pi and PC are connected via LAN cable, and both ROS_HOST_NAME and ROS_MASTER_URI have been set.

enter image description here

Connected to Raspberry Pi with VNC Viewer. When running LIDAR and odom node SLAM on Raspberry Pi, it operates normally as above. However, mapping speed is very slow.

enter image description here This is rqt_graph executed on Raspberry Pi.

enter image description here This error occurs when remotely connecting to an Ubuntu PC.

enter image description here This is rqt_graph run on Ubuntu.

  • $\begingroup$ The problem was solved by synchronizing the PC and Raspberry Pi time. thank you $\endgroup$ Oct 21, 2023 at 7:06
  • $\begingroup$ Thanks for the update. I have moved my comment to the answer section just to make it an answer for furture readers. $\endgroup$
    – ravi
    Oct 23, 2023 at 2:18

1 Answer 1


Welcome to Robotics Stack Exchange!

Please make sure that both machines are time synchronized. Time synchronization is crucial in a multi-machine setup.


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