Intel Euclid, Руководство по началу работы, Страница: 16 / 24

1.6. Connect Euclid to an external network
Euclid, by default, is running a hotspot. You can configure Euclid to connect to an external
network. Follow those steps (future version will include a web interface option):
1. Connect Euclid to a terminal (See Section 1.5)
2. Call:
a. rosservice call /cs/network/scan
b. rosservice call /cs/network/list
Verify that the SSID you want it listed.
c. rosserivce call /cs/network/connect “ssid:’<SSID_NAME>’
password:’<PASSWORD>’ “
d. rosservice call /cs/restart_oobe
e. run ifconfig * in order to get device’s IP
*see section 1.7
1.7. Euclid IP Discovery
Euclid publish its IP address in order to be identified on network. Publishing is done by standard
multicast system so message can be consumed by any multicast receiver. Following is example
on how to consume message with your mobile phone:
1. On your phone install multicast app such as ‘Multicast Tester’ for example.
2. Connect your phone to same network as the one your Euclid device is connected.
3. Open the multicast application on your phone:
a. Multicast IP: 224.1.1.100
b. Multicast Port: 10000
c. Stat Listening to multicast messages.
d. Messages will appear with the corresponding Euclid
hostname and its IP address.
** Discovery app will show every Euclid device that is connected to the specified network.
*** See Wiki for sample multicast client code.
1.8. Working with a ROS companion machine
In case you have an existing ROS machine there are two options working with the Euclid device:
1.8.1. Euclid as a master
Euclid is running a ROS Core on it by default. Simply configure your client device to connect to
Euclid’s Hotspot and follow those steps:
1. Configure the ROS_MASTER_URI to 10.42.0.1 (the Euclid’s IP on its own hotspot)
a. $> export ROS_MASTER_URI=10.42.0.1
2. Run ifconfig to get you IP addres and set it to ROS_IP:
a. $> export ROS_IP=<Machine IP>