NeuronBot
List of Figures
37
To make this easier, you can set up the ADLINK Neuron Startup Menu on the NeuronBot and computer. Use the
following command to edit the Neuron Startup Menu. Here, we used gedit as the editor; however, you can use any
editor you want.
gedit ~/.ros_menu/config.yaml
The Domain ID of the NeuronBot and computer should be the same for DDS communication. Modify the Neuron
Startup Menu on both the NeuronBot and computer as follows:
Config:
menu_enable: true
ros_option: menu
default_ros_domain_id:
30
Menu:
ROS 2 dashing:
option_num: 2
ROS_version: 2
distro_name: dashing
ros2_path: /opt/ros/dashing
domain_id: # set if you don't want to use default domain id
cmds:
# - source ${HOME}/ros2_ws/install/local_setup.${shell}
- source_plugin dds_bashrc 1
5.2.4. SSH Remote Session
Typically, it is not convenient to connect a mouse, keyboard, and monitor to the NeuronBot while the NeuronBot is
moving around. To address this, you can connect to an SSH server, which is a secure shell for network
connections. An SSH server will allow you to remotely connect to a NeuronBot for the secure transfer of files or to
perform administrative tasks like teleoperating the NeuronBot. First you must install an SSH server on NeuronBot.
•
NeuronBot:
sudo apt install openssh-server
Before you connect to the SSH server, make sure that the NeuronBot and computer are connected to the same
WiFi router. Then, execute the following command on the computer to remotely connect to the Neuronbot.
•
Computer:
ssh –X <USER_NAME>@<IP_ADDRESS>
For example, the USER_NAME of the NeuronBot is “ros” and the IP_ADDRESS is “192.168.50.1.23”:
ssh –X [email protected]
# add capital –X to enable Linux X11 forwarding
Before connecting to the SSH server, your host name will be your computer. For example, in the following picture,
the host name of the computer is “rostest”.
After connecting to the SSH server, the host name will change to the NeuronBot’s name. For example, in the
following picture, the host name of NeuronBot is “neuronbot”.