(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Setting up your workstation

Description: Setting up your workstation

Keywords: Copernicus

Tutorial Level: BEGINNER

Instructions:

  1. Connect a keyboard, mouse and monitor to the on-board PC.
  2. The default username and password for the robot will be provided in the customized user manual that comes with your Copernicus.
  3. The system will boot into the Ubuntu interface.
  4. Connect the PC to a Wi-Fi network. It is recommended that you connect it to the same network as your workstation.
  5. Find the Copernicus' IP address by firing up a terminal and typing in:
    $ hostname –I
  6. 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>
  7. 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)
  8. 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
  9. On the remote terminal, run the following:
    $ netcat –I 1234
  10. On the workstation terminal, run the following:
    $ netcat 1234
  11. If the connection is successful, you should be able to type messages back and forth between the two terminals.
  12. 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
  13. Fire up another terminal in your workstation and determine the IP address by running:
    $ hostname –I
  14. Set up ROS master environment on the workstation by running:
    $ export ROS_IP=<WORKSTATION_IP>
    $ export ROS_MASTER_URI=http://<COPERNICUS_IP>:11311
  15. 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
  16. On the workstation terminal, run:
    $ rosrun rospy_tutorials talker.py 

Wiki: Robots/Copernicus/Tutorials/Setting up your workstation (last edited 2020-06-26 09:56:17 by Botsync)