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## description = Configuration for network communication between Robot and Remote PC
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== First interaction with Ethernet cable ==

For the first time, you can access the onboard computer by connecting Ethernet
cable between your computer and the Ethernet port on the user panel. To be
able to establish network connection to robot, you need to set static IP address
on your computer. You can choose any IP address on '''`192.168.2.x`''' IP block other
than '''`192.168.2.1`''' which is the address of the onboard computer. After cable is
connected, you can log in to onboard computer using SSH with command;

{{{
$ ssh mrp2@192.168.2.1
}}}

The default password for MRP2 robot is '''`temppwd`'''.


== Wireless access ==

If you want to access MRP2 wireless, you can configure it to join your local
wireless network. You need to configure once, after that robot will join wireless
network automatically when powered up.

First step is to connect to robot via cable and SSH into it (described in above).
Now you need to edit network interfaces settings. Run;

{{{
$ vim /etc/network/interfaces
}}}

For static IP application, add these lines to the bottom of the file, save and exit.

{{{
auto wlan0
iface wlan0 inet static
address <Static_IP_for_MRP2>
netmask <Your_Netmask>
gateway <Your_Gateway_Addr>
wpa-ssid <Your_SSID>
wpa-psk <Your_WiFi_Password>
dns-nameservers <Your_DNS>
}}}

For example;

{{{
auto wlan0
iface wlan0 inet static
address 192.168.1.5
netmask 255.255.255.0
gateway 192.168.1.1
wpa-ssid MyHomeWifiNetwork
wpa-psk 123456secret123456
dns-nameservers 8.8.8.8 8.8.4.4
}}}

For DHCP application, add these lines to the bottom of the file, save and exit.

{{{
auto wlan0
iface wlan0 inet dhcp
wpa-ssid <Your_SSID>
wpa-psk <Your_WiFi_Password>
}}}

For changes to take effect, run this command;

{{{
$ sudo ifdown wlan0 && sudo ifup wlan0
}}}

Now the robot should be connected to your wireless network. You can unplug the
cable and login again using SSH over your wireless network.

If you need to install a package from online repositories, then you will need to
connect the robot to the internet. If your wireless network does not provide internet
connection, then you can change the network configuration to connect another
network with internet connection.

After this operation, you should change the default network adapter configuration in
robot upstart. To do this, run these commands;

{{{
$ rosrun robot_upstart uninstall mrp2
$ rosrun robot_upstart install mrp2_bringup/launch/base.launch --setup '/etc/mrp2/setup.bash
}}}

If you are new in ROS and didn't navigate robot, we recommend to starting with 
Simulation [[mrp2_gazebo/Tutorials/Launching robot in Gazebo Simulator and driving it| Tutorial]]s.