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Setup for Remote Computer


First a note about this configuration

In this mode the computer talks directly to the platform and several directions are unique to this configuration including the ip addresses, wireless config, etc.

Necessary Hardware

Install ROS Indigo on Robot Computer

Perform these install steps on the computer responsible for robot control.

Some assumptions about your Ubuntu Install

These instructions make the following assumptions about your Ubuntu 14.04LTS install. These are not hard and fast rules, however, the instructions assume these things. When asked during the install you should select the following:

  • username : sibot

  • computer name : SIBOT1

  • password : Welcome00

  • The SSH client and server are installed.
    • If not run the following commands:

sudo apt-get update
sudo apt-get install openssh-client
sudo apt-get install openssh-server

Setup your ROS sources.list

Setup your computer to accept software from packages.ros.org. ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your ROS keys

sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

ROS Installation

Make sure the Debian package is up to date:

sudo apt-get update
sudo apt-get install ros-indigo-desktop-full

Initialize rosdep

sudo rosdep init
rosdep update

Getting rosinstall

Rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

sudo apt-get install python-rosinstall

Install required packages

Connected to the internet run the following commands:

Install useful Linux utilities

These tools are useful for monitoring system processes, setting up networking, and setting up NTPD for the remote computer. They are not necessary but recommended.

sudo apt-get install iperf chrony htop bridge-utils

Install required ROS third party packages for segway_v3_robot

These are the packages that RMP V3 depends on:

sudo apt-get install ros-indigo-navigation ros-indigo-gmapping ros-indigo-robot-localization ros-indigo-yocs-cmd-vel-mux ros-indigo-joy ros-indigo-urg-node ros-indigo-lms1xx ros-indigo-pointgrey-camera-driver ros-indigo-cmake-modules ros-indigo-imu-tools daemontools openssh-server libpcap0.8-dev

Add yourself to the dialout group

This is necessary if you have serial, or serial-USB devices:

sudo adduser $USER dialout

Environment setup

Edit the local bash environment to add a few useful aliases:

gedit ~/.bashrc

Add the following lines to the end of the file each provides a few shortcuts:

source /opt/ros/indigo/setup.bash
alias sws='source ./devel/setup.bash'
alias clean_backups='find ./ -name '*~' | xargs rm'
alias clean_pyc='find ./ -name '*.pyc' | xargs rm'
alias clean_rosbuild='rm -rf build devel install'
alias segstop='sudo service segway-core stop'
alias segstart='sudo service segway-core start'
alias segchk='sudo tail /var/log/upstart/segway-core.log -n 30'

Close your terminal and open a new one to make the changes effective

Setup Workspace

Create a work space in your home directory.

mkdir -p ~/segway_ws/src
cd ~/segway_ws/src
cd ..

Download and install ROS software packages

cd ~/segway_ws/src
git clone https://github.com/StanleyInnovation/segway_v3.git
git clone https://github.com/StanleyInnovation/segway_v3_robot.git
git clone https://github.com/StanleyInnovation/segway_v3_desktop.git
git clone https://github.com/StanleyInnovation/segway_v3_network.git
cd ..

Modify Sudo

This modification allows the user sibot to run start / stop service without entering a password.

sudo visudo

Paste this at the bottom of the file below the "#includedir"

sibot   ALL=(ALL) NOPASSWD: /sbin/start segway-core, /sbin/stop segway-core

Save the file


Setup chrony

  • If you are going to be running ROS nodes on a remote computer it is a good idea to setup chrony to synchronize time between the machines
  • The onboard robot PC should ideally run the server
  • Specific directions for setting up chrony can be found online

Additional Steps

You should probably do these regardless, but these steps are really only required PGR Flea3 camera and onboard PC powered from RMP.

Open the grub configuration

sudo gedit /etc/default/grub

Add this line

Configures the system to not wait at startup if boot fails

# disable getting stuck in menu after fail

Update the USB memory buffer to handle USB3

* Locate this line


* Change it to this:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore usbfs_memory_mb=1000"

Save and exit

Update Grub

From the terminal

sudo update-grub
sudo modprobe usbcore usbfs_memory_mb=1000

Restart the computer

Joystick setup

Install this lightweight joystick tester and run it if you are planning on driving the system around.

sudo apt-get install jstest-gtk

You should get a pop-up window with your joystick information. Go ahead and click on the correct one and verify that it works. Write down the /dev/input/jsX number and enter it in the configuration on the next screen.

Robot Customization

Edit the setup configuration

cd ~/segway_ws/src/segway_v3_robot/segway_bringup/env-hooks
gedit 50.segway_config.sh

Compile from source

cd ~/segway_ws

Future Changes

If you need to go back and change something in the configuration you have two choices. Either modify the destination file which is created during the catkin_make:

gedit ~/segway_ws/devel/etc/catkin/profile.d/50.segway_config.sh


You can modify the file in "env-hooks" listed above and the run the following commands:


If your un-sure about the value of a particular variable a quick way to check is with the echo command like this:


Network Setup

Don't follow these instructions for anything other than this configuration

Setup Wireless Router

To connect with the platform these instructions assume you will be using a wireless router.

Configure networking on remote computer


Manual Launch

cd ~/segway_ws
roslaunch segway_bringup stanley_innovation_system.launch

* If you are having issues communicating with the platform:

Manual launch works, time to install the service

cd ~/segway_ws
rosrun segway_bringup install_segway_core

Start the service and make sure it starts up fine



Test Visualization

cd ~/segway_ws
roslaunch segway_viz view_robot.launch

Test reconfiguration GUI

rosrun rqt_reconfigure rqt_reconfigure

See data


Drive the system around


With the system running:

cd ~/segway_ws



2021-01-02 12:27