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Login to the robot
Description: This tutorial teaches you how to login to the robot.Tutorial Level: BEGINNER
Contents
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