Robot packages installation
In this section we will present the configuration and installation of all required packages for the robot.
Workstation network setup
Please connect the Ethernet switcher with the wifi broadcaster through the white RJ45 cable located in the back of the robot. Then, plug in mainboard to the switcher. Power up the robot and make sure to connect the workstation to the Mini-Lab Wi-Fi. Edit the configuration menu with the suitable addresses.
Ubuntu Network Configuration Screen
After the configuration of the network, you have to export the address of the workstation. In new terminal type in:
$ echo export ROS_MASTER_URI=http://192.168.0.XXX:11311 >> ~/.bashrc $ echo export ROS_HOSTNAME=IP_OF_WORKSTATION >> ~/.bashrc
The first commands is essential to establish the link with the robot. In the second command you have to type the workstation configured IP.
After fully configuring the network. Connect via “SSH” to the robot
Connect to the Mini-Lab Robot
To connect use the SSH command line on the workstation
$ ssh firstname.lastname@example.org.XXX
The robot defaults IDs are:
Username: user Password: #user
Now, you are connected to the robot and you can launch files on the robot’s hard disk.
Mini-Lab packages installation
To start using the Mini-Lab, you should add the packages in the directory catkin_ws/src/ in the Mini-Lab.
The packages should be ready after compiling the workspace:
$ cd ~/catkin_ws/ $ catkin_make
Add the following lines to the bashrc file in the workstation:
ROS_MASTER_URI=http://Mini_Lab_ip_adress:11311 export ROS_HOSTNAME=workstation_ip_adress