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PC Network Configuration

Installing SSH,

> sudo apt-get install ssh ssh-contact-service ssh-contact-client

We will define ROS_HOSTNAME and ROS_MASTER_URI in bashrc.

> gedit ~/.bashrc

Add these two lines to bashrc. <hostname> is your PC hostname.

export ROS_HOSTNAME=<hostname>
export ROS_MASTER_URI=http://<hostname>:11311

Refresh the terminal,

> bash

We will define IP addresses for hostname of Evarobot and PC.

> sudo gedit /etc/hosts

Add these lines to hosts file. PC_IP_ADDRESS is your PC Static IP address in evarobot_wifi network.

<PC_IP_ADDRESS> <hostname> evarobotDSK

Now, we need to change mcast_group parameter in multimaster_fkie.

> roscd master_discovery_fkie/launch/
> gedit master_discovery.launch

Change 'mcast_group' parameter in master_discovery.launch with "".

PC NTP Server Configuration

We will set your PC as a ntp server in evarobot_wifi to sync evarobot time. Install ntp for your PC.

> sudo apt-get install ntp

Open 'ntp.conf'

> sudo gedit /etc/ntp.conf

Add these lines to 23. line of ntp.conf.

server stratum 10

Also, adding that line to 52. line in conf file.

broadcast evarobotDSK

In order to restart ntp,

> sudo /etc/init.d/ntp restart

To observe peers,

> ntpq --numeric --peers

SSID: evarobot_wifi
Password: inomuh2015

2022-11-26 12:37