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Login to the robot

Description: This tutorial teaches you how to login to the robot.

Tutorial Level: BEGINNER

Connecting to the internal robot network

To satisfy the ROS communication you need communication through all ports to the robot machines. You can either choose a VPN network or set up a route.

Using VPN

TBD

Using a route

You can setup a route to the internal network addresses. Please change the robot name and your network device to fit your settings. E.g.for connecting to

cob3-1 on eth0

sudo route add -net 192.168.0.0 netmask 255.255.0.0 gw cob3-1 dev eth0

or cob3-1 on wlan0

sudo route add -net 192.168.0.0 netmask 255.255.0.0 gw cob3-1 dev wlan0

You can check the settings with

ping 192.168.0.101

Setup name resolution

To satisfy the ROS communication you need a full DNS name lockup for all machines. Therefore add the following addresses to your /etc/hosts. Please change the robot name to fit your settings

192.168.0.101 cob3-1-pc1
192.168.0.102 cob3-1-pc2
192.168.0.103 cob3-1-pc3

You can check the settings with

ping cob3-1-pc1

Login remotely via SSH

To login on the robot machines via SSH we use port forwarding on the internal router.To log in to the pc's on cob3-1

pc1: ssh -X -p2201 cob3-1
pc2: ssh -X -p2202 cob3-1
pc3: ssh -X -p2203 cob3-1


2019-10-12 12:23