Now that we’ve chased TurtleBot around while pressing keys on the netbook, we can really appreciate the workstation. This allows you to control TurtleBot from the comfort of your chair.
Synchronizing Clocks (TurtleBot and Workstation)
Follow only the “Network Time Protocol” instructions on the Post-Installation Setup page. Skip the special cases instructions.
QUICK TIP: Make sure both TurtleBot and the workstation are connected to the same router. To avoid problems moving forward, disable security options such as firewalls and anything that does port blocking .
Set Up Networking (TurtleBot and Workstation)
Follow the network configuration instructions and follow the options for “source installation”. Note that there are different and specific instructions for TurtleBot and the workstation.
Shell into TurtleBot
Though you can always go find the TurtleBot and type in the commands directly, it’s more convenient to SSH into its computer and control it from there.
Check if SSH service exists by running on TurtleBot:
If you receive
ssh: unrecognized service, install the SSH server via:
Now that you’ve confirmed you have SSH installed or have just installed it, run:
Find TurtleBot’s IP by running the following on TurtleBot’s computer:
wlan0 (not “lo”) you’ll see an
inet addr:. That is TurtleBot’s IP.
TIP: If it starts with 127, it’s probable the IP for
lo is the wrong one.
On the workstation, open a terminal and run:
[ip_of_turtlebot] with TurtleBot’s IP and
turtlebot with its username if you chose a name different from “turtlebot”.
Now you can SSH into TurtleBot to run scripts including the start-up script:
…without having to walk over to TurtleBot!
TIP: The password is the same password you use to log in to the TurtleBot computer (default:
Drive in Comfort
On the TurtleBot computer, close all terminal windows, close the computer, and set it on the second shelf like we did in the Hardware Setup tutorial. Now that you know how to SSH into TurtleBot via your workstation you can run anything you need via the workstation.
turtlebot_bringup is the way of “booting up” TurtleBot. This must be run remotely on TurtleBot, never directly on the workstation.
On the workstation, run:
Try driving around from the workstation. This is what you should see on the workstation’s screen:
And this is what you should see in your office, home, etc: