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>
192.168.3.10 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 "224.0.0.0".

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 127.127.1.0
server 127.127.1.0 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

Modem:
SSID: evarobot_wifi
Password: inomuh2015

Evarobot Network Configuration

Connect via SSH to the Evarobot.

> ssh pi@evarobotDSK

Open hosts file in Evarobot with nano editor.

> sudo nano /etc/hosts

Add your PC IP address and hostname.

<IP_ADDRESS> <HOSTNAME>

For example,

192.168.3.70 evarobotserver

To save and exit in nano editor, use Ctrl + X.

Evarobot NTP Configuration

Open ntp.conf file.

> sudo nano /etc/ntp.conf

Add that line to 22. line in ntp.conf.

server <hostname> iburst

For example,

server evarobotserver iburst

Delete # at two lines which are shown below.

#disable auth
#broadcastclient

Like that,

disable auth
broadcastclient

To restart ntp,

> sudo /etc/init.d/ntp restart