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Setting up your workstationDescription: Setting up your workstation
Tutorial Level: BEGINNER
- Connect a keyboard, mouse and monitor to the on-board PC.
- The default username and password for the robot will be provided in the customized user manual that comes with your Copernicus.
- The system will boot into the Ubuntu interface.
- Connect the PC to a Wi-Fi network. It is recommended that you connect it to the same network as your workstation.
- Find the Copernicus' IP address by firing up a terminal and typing in:
$ hostname –I
- If you have your workstation connected to the same Wi-Fi network as Copernicus, you should be able to ping the IP using:
$ ping <COPERNICUS_IP>
- Now disconnect the monitor, keyboard, mouse and restart the PC. It will now be possible to remote access the Copernicus using SSH by running the following:
$ ssh <USER_NAME>@<COPERNICUS_IP> (This is the user name that will be provided to you in the Copernicus user manual)
- Since ROS requires both systems to have complete bi-directional connectivity on all ports, it is necessary to ensure that communication is possible via all the ports
- On the remote terminal, run the following:
$ netcat –I 1234
- On the workstation terminal, run the following:
$ netcat 1234
- If the connection is successful, you should be able to type messages back and forth between the two terminals.
- Since display features are not available vis SSH, it is useful to set up the ROS master environment in Copernicus. In the remote terminal, run the following:
$ export ROS_IP=<COPERNICUS_IP> $ export ROS_MASTER_URI=http://<COPERNICUS_IP>:11311
- Fire up another terminal in your workstation and determine the IP address by running:
$ hostname –I
- Set up ROS master environment on the workstation by running:
$ export ROS_IP=<WORKSTATION_IP> $ export ROS_MASTER_URI=http://<COPERNICUS_IP>:11311
- The following test can be used to ensure that the systems are properly configured. On the remote terminal run:
$ roscore $ rosrun rospy_tutorials listener.py
- On the workstation terminal, run:
$ rosrun rospy_tutorials talker.py