-
Notifications
You must be signed in to change notification settings - Fork 4
Network setup
The WiFi router is configured in the following way:
- Firmware version: 3.16.9 Build 150312 Rel.59597n
-
DHCP: enabled.
- Network Segment: 192.168.125.0
- Subnet mask: 255.255.255.0
- Start: 192.168.125.1
- End: 192.168.125.199
- Default gateway: 192.168.125.5
-
Reserved IP Addresses
- YuMi: 192.168.125.1
- Ridgeback: 192.168.125.2
- Optoforce left-hand sensor: 192.168.125.3
- Optoforce right-hand sensor: 192.168.125.4
- Router: 192.168.125.5 (address for accessing web utility for network setup)
- Intel NUC (Ethernet): 192.168.125.6
- WAN: enabled. (this means you would have access to the internet if you connect a cable)
-
Port forwarding
- 11311 from 192.168.125.2
- 22 from 192.168.125.2
It is strongly recommended to add the following host names to the file /etc/hosts of the Clearpath Ridgeback, the Intel NUC, and the computer from which you'll remotely control ridgeback_yumi:
# Basic ridgeback_yumi setup for NUC/TX1:
192.168.125.5 router-robots
192.168.125.50 ubuntuPC
192.168.125.1 yumi-robot
192.168.125.2 cpr-ridgeback
192.168.125.2 CPR-R100-0025
192.168.125.3 OPTODAQ-LEFT
192.168.125.4 OPTODAQ-RIGHT
192.168.125.6 intel-NUC
192.168.125.7 jetson-TX1
192.168.125.201 yumi-grippercamera-r
192.168.125.202 yumi-grippercamera-l
# For using the spinning lidar we have mounted on top of YuMi:
192.168.0.10 spinning-hokuyo
YuMi requires that you connect to it from a single, predetermined IP address (192.168.125.50). In order to set that up appropriately, check YuMi - Network setup
To be able to connect to the ROS master running on Ridgeback, paste the following lines in the ~/.bashrc file of your PC, Ridgeback, and on every host running ROS (Intel NUCs, NVIDIA Jetsons, etc):
export ROS_MASTER_URI=http://cpr-ridgeback:11311 # Your robot’s hostname
export ROS_IP=__.__.__.__ # Your computer’s wireless IP address
The parameter ROS_IP should be set to your compute wireless IP address. For example, if your IP address is 192.168.125.50 you would need to paste:
export ROS_MASTER_URI=http://cpr-ridgeback:11311
export ROS_IP=192.168.125.50
Once you believe everything is set up correctly, try running rostopic list, which will verify that your machine can see the robot’s ROS master, and rostopic echo /mcu/status, which will verify that the robot PC can see your machine in order to stream topics to it.