Difference between pages "SDK Concepts" and "Networking"

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<span style="font-size:120%;">'''This page contains a list of Concepts summarizing the basic functionality of the SDK on Intera'''</span>
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<span style="font-size:120%;">'''The Sawyer Research Robot uses ROS to communicate with the user's Development Workstation.  This requires an ethernet network to be established between Sawyer and the Workstation with full bi-directional connectivity.  If you have trouble connecting to your Sawyer, see this page for our Recommended Network Setup and other common network debugging steps.'''</span>
 
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</div>
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<div class="content-block">
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== Confirm that Sawyer is running in SDK mode on the robot ==
 +
 +
In order to network with the robot, be sure that the robot is in SDK mode.  You can confirm this by booting the robot and seeing this image on the screen:
 +
 +
 +
[[File:Sawyer_SDK_Robot_Screen.png|400px]]
 +
 +
 +
If you boot the robot and it is running Intera, please follow [[Upgrade Sawyer to Intera SDK|these instructions]] to update the robot.
 +
 +
</div>
 +
 +
<div class="content-block">
 +
 +
== Basics ==
 +
These Network Configuration settings are available in the [[Field Service Menu (FSM)]]
 +
 +
=== Basic Requirements ===
 +
Sawyer must be connected to a development workstation which uses ROS over an ethernet network to communicate bi-directionally.
 +
 +
Sawyer's [[Robot Hostname|hostname]] can be configured using the [[Field Service Menu (FSM)]] if you do not like the one given out at the factory which matches its [[Serial Number|serial number]].
 +
 +
=== Network address assignment ===
 +
 +
Sawyer supports IPV4 addressing for the following network configurations:
 +
* Automatic address assignment (“Automatic” mode)
 +
** If a DHCP server is present in the network, the DHCP server automatically assigns a network address to the robot, and may (or may not) assign a DNS server for host name resolution.
 +
** If no DHCP server is present, the robot will use the Autoip protocol to assign itself a link-local address in the 169.254.0.0/16 address block.
 +
** All assignments in this mode are automatic, and no options can be configured manually.
 +
* Manual address assignment from the Field Service Menu (“Manual” mode)
 +
** The user must specify a valid IPV4 address for the robot, and may optionally specify a network mask, default gateway address, and DNS server address. All network options are configured manually.
 +
 +
=== Host name resolution ===
 +
 +
In all addressing modes, Sawyer provides link-local advertising of the robot’s host name as “<robot name>.local” using the Avahi mDNS service. Computers that are located in the same subnet as the robot and that support mDNS can always resolve the robot’s host name as “<robot name>.local” even if no other host name resolution service is present. Sawyer will also be able to communicate with these computers using their host names.
 +
 +
In “Automatic” addressing mode, Sawyer will be able to resolve external host names only if the network’s DHCP server supplies a DNS server address. If the DHCP server does not provide a DNS server address, Sawyer will only be able to communicate with external computers by their IP addresses.
 +
 +
In “Manual” addressing mode, Sawyer will be able to resolve external host names only if the user specifies a DNS server address (and a default gateway address if computers in a different subnet are involved). If the user does not provide a DNS server address, Sawyer will only be able to communicate with computers by their IP addresses.  If the user does not provide a default gateway address, Sawyer will only be able to communicate with computers within the same subnet.
 +
</div>
 +
<div class="content-block">
 +
== ROS Naming Conventions ==
 +
 +
Intera robots supports 3 ROS naming conventions.  These control how the ROS Master publishes the access information for the individual nodes published by the robot.  Regardless of how you connect to the robot, you will need to be able to reach it by the address configured by its ROS naming convention if you want to be able to interact with it. (i.e. if you can reach the robot by its IP, but it is configured with the ROS_HOSTNAME convention and you can't reach it by its hostname, then you will be unable to do meaningful work with the robot)
 +
* '''ROS_HOSTNAME.local:''' This publishes the nodes at <code><robot hostname>.local</code>
 +
** This is the least versatile, but the most stable configuration, and is our recommended when it is available.
 +
** This convention only works in a local setup, where your robot and development machine are on the same subnet, but will '''almost always''' work in that network configuration.
 +
** This will only break if
 +
*** A naming conflict is introduced on the local network or
 +
*** You manually change the hostname of the robot.
 +
* '''ROS_IP:'''  This publishes the nodes at the IP4 Address associated with the robot
 +
** This is the most versatile naming convention, but also the most fragile.
 +
** It will work in any network configuration where you have connectivity to the robot, but will break if the IP of the robot changes
 +
* '''ROS_HOSTNAME:''' This publishes the nodes at the hostname of the robot.
 +
** This configuration has medium versatility and stability.
 +
** It only works if there is a working DNS running on your network, and pointed at the robot.
 +
** This will only break if
 +
*** A naming conflict is introduced in the network or
 +
*** If the the DNS-resolved hostname of the robot is changed, which can be done by the Server admin, but is unlikely to happen.
 +
</div>
  
 
<div class="content-block">
 
<div class="content-block">
  
== Development Environment ==
+
== Network Configuration through a Router ==
 +
 
 +
=== Recommended Network Configuration ===
 +
 
 +
The recommended network configuration is to connect your development workstation and your Sawyer to an all in one SOHO (Small Office/Home Office) router/firewall similar to the Linksys EA-Series routers. This type of router provides DHCP and other networking services, and has the benefit of keeping the network traffic off of your main network. It also allows the development workstation access to internet in particular, the Rethink Robotics github repo for code and documentation.
 +
 
 +
=== Router Configuration Diagram ===
 +
 
 +
[[File:Router_Config.png|800px]]
 +
 
 +
* Sawyer and the user's computer can both be set to "Automatic" addressing mode, which will draw IP information directly from the router.
 +
 
 +
=== Sawyer ===
  
Throughout the Wiki, Tutorials, and SDK, we refer to the "SDK Shell" and your "ROS Workspace" or "Environment". These are simple environment concepts and configurations that are useful to have a basic understanding of when using the Baxter SDK and ROS.
+
* Sawyer can be set to use either ROS_IP or ROS_HOSTNAME.local:
*; ROS Workspace
+
*# ROS_HOSTNAME.local is our '''recommended''' ros naming protocol for the robot in this setup.  It is very stable in this network configuration, and would only need to be adjusted if you switch to a separate subnet from the robot.
*: Your "ROS Workspace" (also called a "[http://wiki.ros.org/catkin/workspaces Catkin Workspace]" in the ROS world), is the '''<code>~/ros_ws/</code>''' directory you setup in the [[Getting Started|Getting Started Tutorials]]. Inside the <code>src/</code> sub-directory, you can create or checkout source code as ROS Packages (such as the baxter sdk packages), which you can then compile and link against via the <code>devel/</code> or <code>install/</code> sub-directories.
+
*#* If you can <code>ping <robot hostname>.local</code>, then the network is working correctly
 +
*# ROS_IP is the most reliable naming method, if you know that the robot is going to keep its .IP.  This naming protocol works across all network configurations as long as you have reliable routing to the robot.
 +
*#* If you can <code> ping <robot ip></code> then the network is working correctly.
 +
*#* '''Note:''' You can set the robot to use a Static IP if you are interested in using this naming convention because you are unsure of your future network configurations, but be sure to talk to your network administrator if you are hooking your router up to a larger network.
  
*; [[SDK Shell]]
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=== Dev Machine ===
*: The SDK Shell is a term we use to refer to a session in a [http://en.wikipedia.org/wiki/Shell_(computing) shell], or Terminal, with the ROS Environment Variables properly configured to point to your ROS Workspace, the Baxter Robot, and your computer's ROS ID.
 
*: The '''<code>[[baxter.sh]]</code>''' file is the script you setup to take care of configuring all that for you.
 
*: <br />
 
*: You need to be in a proper RSDK Shell before you use most of the ROS tools or run any of the SDK examples or programs. Therefore you should run the <code>./baxter.sh</code> script at the start of each Terminal session.  All the script does is start a convenient "sub-shell" that fills in the necessary Environment Variables as you configured.
 
  
*; Environment Variables
+
* In this network configuration, you will want to have your [[SDK Shell|intera.sh]] script point to either:
*: The [http://wiki.ros.org/ROS/EnvironmentVariables ROS Environment Variables] have three important functions:
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*# ROS_IP = "<your development machine's IPV4 Address>"
*:# Identifying your Baxter and Workstation on the ROS Network, based on your [[Networking|Network Configuration]].
+
*#* Verify connectivity by attempting to <code>ping <your development machine's IPV4 Address></code>
*:# Pointing to the path of the ROS Packages, tools, and programs, when you use rosrun (execute programs).
+
*# ROS_HOSTNAME = "<your development machine's hostname>.local"
*:# Linking to the libraries and workspaces when compiling source code.
+
*#* Verify connectivity attempting to <code>ping <your development machine's hostname>.local</code>
  
 +
=== Connect Directly To Corporate Or University Network ===
  
If you are new to the ROS world, it is highly recommended you take the time to go through the Beginner Level [http://wiki.ros.org/ROS/Tutorials#Core_ROS_Tutorials Core ROS Tutorials]. My personal recommendation is to at least do:
+
Another viable networking configuration is to connect Sawyer directly to your corporate or university network. Here you need to make sure that a DHCP server is available, and that your name server can resolve Sawyer's hostname to an IP address.
* The first few Configure through 'Understanding ROS' tutorials - ''('''Remember:''' we use <code>~/ros_ws/</code> instead of <code>~/catkin_ws/</code> but they are exactly the same)''.
+
 
* Also, the '[http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28python%29 Writing a Simple Publisher and Subscriber]' tutorials can be pretty useful when it comes to writing your first ROS program for the ROS newbie.
+
You can set Sawyer to use either "Automatic" addressing or a static IP configuration in this configuration.
 +
 
 +
'''Note:''' If you want to set a static IP, you will need to talk to your network administrator to get an appropriate IP for you to assign, in order to avoid network collisions.
 +
 
 +
=== Sawyer ===
 +
 
 +
In this network configuration, you can use either ROS_IP or ROS_HOSTNAME ROS naming conventions
 +
* In this setup, we recommend using the ROS_HOSTNAME convention.  This will rely on your DNS and on not having someone else register a duplicate of your hostname (so pick a unique one), but will be very stable in this network configuration.
 +
** If you can <code>ping <robot hostname></code> then the network is working.
 +
* As mentioned in the previous section, ROS_IP is the most versatile ROS naming convention that works across the most network configurations, but is susceptible to automatic IP changes when a lease is exceeded.
 +
** If you can <code>ping <robot IP></code> then the network is working.
 +
 
 +
=== Dev Machine ===
 +
 
 +
* In this network configuration, you will want to have your [[SDK Shell|intera.sh]] script point to either:
 +
*# ROS_IP = "<your development machine's IPV4 Address>"
 +
*#* Verify connectivity by attempting to <code>ping <your development machine's IPV4 Address></code>
 +
*# ROS_HOSTNAME = "<your development machine's hostname>"
 +
*#* Verify connectivity by attempting to <code>ping <your development machine's hostname></code>
  
 
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<div class="content-block">
  
== Writing Programs ==
+
== Direct Network Configuration ==
At the core of the SDK are the interfaces provided to control and access all of the Baxter Research Robot's motors and sensors. These sections describe the hardware components of the robot and the foundation API layers upon which the SDK - and your programs - are built. These sections describe the ''Components of the Robot'', and the ''Interfaces'' to control them.  
+
 
 +
If you do not have a DHCP server or other networking infrastructure, or would just prefer to connect your development workstation directly to Sawyer, you can do so using the following network configuration and steps.
 +
 
 +
=== Switch Configuration Diagram ===
 +
 
 +
[[File:Switch_Config.png|600px]]
 +
 
 +
=== Robot ===
 +
 
 +
In this setup, you will need to set your robot to use "Automatic" addressing, and can choose between ROS_IP and ROS_HOSTNAME.local for your ROS naming convention.
 +
# ROS_HOSTNAME.local is our '''recommended''' ros naming protocol for the robot in this setup.  It is very stable in this network configuration, and would only need to be adjusted if you switch to a separate subnet from the robot.
 +
#* If you can <code>ping <robot hostname>.local</code>, then the network is working correctly
 +
# ROS_IP is the most reliable naming method, if you know that the robot is going to keep its .IP.  This naming protocol works across all network configurations as long as you have reliable routing to the robot.
 +
#* If you can <code> ping <robot ip></code> then the network is working correctly.
 +
#* '''Note:''' You can set the robot to use a Static IP if you are interested in using this naming convention because you are unsure of your future network configurations, but be sure to talk to your network administrator if you are hooking your router up to a larger network.
 +
 
 +
=== Dev Machine ===
 +
 
 +
* In this network configuration, you will want to have your [[SDK Shell|intera.sh]] script point to either:
 +
*# ROS_IP = "<your development machine's IPV4 Address>"
 +
*#* Verify connectivity by attempting to <code>ping <your development machine's IPV4 Address></code>
 +
*# ROS_HOSTNAME = "<your development machine's hostname>.local"
 +
*#* Verify connectivity by attempting to <code>ping <your development machine's hostname>.local</code>
  
=== SDK Foundations (Interfaces) ===
+
=== Avahi Configuration Steps: ===
  
The SDK provides interfaces that control the robot hardware layer via the Robot Operating System (ROS) to any other computers on the robot's network.  By using the ROS network layer API, any client library or program that can "speak ROS" can control the robot directly. For a deeper understanding of the SDK System architecture see:
+
These steps assume your ethernet connection to the robot is on <code>eth0</code>.
* [[SDK System Overview|SDK System Overview]]
+
* Shutdown Sawyer and disconnect ethernet cable.
 +
* Connect the laptop/workstation to Sawyer using a Category-5 ethernet cable.
 +
* Power up Sawyer.
 +
* Disable firewall on laptop if necessary:
 +
<source lang="bash">
 +
    $ sudo ufw disable  
 +
</source>
  
By using the foundation ROS interface layer, the robot can be controlled and programmed in any Programming Language that supports ROS.  This has led to a number of user-created interface libraries in different languages.  In addition, the Python Baxter Interface provides a Python Class-based interface library, which wraps many of the ROS interfaces in Python Classes.
+
* Turn off the Ubuntu Network-Manager to prevent interference:
 +
* Go to the Networking Icon drop-down menu in the top-right of the Desktop.
 +
* Make sure 'Enable Networking' is '''unchecked''' (if checked, select the option in the menu to disable)
  
=== ROS Interface ===
+
* Check status of eth0:
The ROS Interface is the foundation upon which all interaction with the Baxter Research Robot passes through and all other interface layers are built upon. The ROS layer is accessible over the network via any of the standard [http://wiki.ros.org/Client%20Libraries ROS Client Libraries] such as [http://wiki.ros.org/rospy rospy (Python)] or [http://wiki.ros.org/roscpp roscpp (C++)].
+
<source lang="bash">
 +
    $ ifconfig eth0  
 +
</source>
 +
''You should not see any IP addresses under 'inet'.''
  
*; [[API Reference|ROS API Reference]]
+
* Use Avahi to designate an IP address to eth0 (do not close the terminal after running avahi-autoipd):
*: The ROS API describes the base interface layer for direct access from the command line or any language.
+
<source lang="bash">
 +
    $ sudo avahi-autoipd eth0 
 +
</source>
  
=== Python Interface ===
+
* Make sure an IP address is successfully claimed. eg:
The Baxter SDK also offers a Python API via the <code>baxter_interface</code> module.  This module wraps the ROS Interfaces in component-based Python Classes.  The SDK Examples are written using this library in order to demonstrate how to use the robot interfaces.
+
<source lang="bash">
*; [[Robot Interface|Robot Interface Overview]]
+
    Found user 'avahi-autoipd' (UID 104) and group 'avahi-autoipd' (GID 111).
*: Gives a basic introduction to each class and component in the Python interface library 'baxter_interface'.
+
    Successfully called chroot().
 +
    Successfully dropped root privileges.
 +
    Starting with address 169.254.8.16
 +
    Callout BIND, address 169.254.8.16 on interface eth0
 +
    Successfully claimed IP address 169.254.8.16
 +
</source>
 +
''Keep this Terminal running in the background.''
  
*; [http://api.rethinkrobotics.com Code API]
+
* Open a '''New Terminal''' to continue.
*: View the generated Python Code API docs for the baxter_interface module.
+
* Find the local hostname of the robot by running avahi-browse:
  
 +
<source lang="bash">
 +
    $ avahi-browse -a -r 
 +
</source>
 +
    The default local hostname of the robot is the [[Serial Number]] followed by local. Ex: '011303P0017.local'.
 
</div>
 
</div>
  
 
<div class="content-block">
 
<div class="content-block">
  
== Robot Hardware Foundations ==
+
== Troubleshooting ==
  
To learn more about what sensors and motors are on the robot and how to use them, see:
+
See the [http://www.ros.org/wiki/ROS/NetworkSetup ROS Network Setup Guide] for common ROS network issues and helpful debugging steps to check your base ROS connectivity.
* [[Hardware Components|Sawyer Components]]
 
When you have run through the Installation procedures and you've established communication with your robot, it is time to start getting familiar with the SDK interface.  This page will walk you through the basics of using the SDK.
 
  
 
</div>
 
</div>

Revision as of 15:42, 13 January 2017

The Sawyer Research Robot uses ROS to communicate with the user's Development Workstation. This requires an ethernet network to be established between Sawyer and the Workstation with full bi-directional connectivity. If you have trouble connecting to your Sawyer, see this page for our Recommended Network Setup and other common network debugging steps.



Confirm that Sawyer is running in SDK mode on the robot

In order to network with the robot, be sure that the robot is in SDK mode. You can confirm this by booting the robot and seeing this image on the screen:


Sawyer SDK Robot Screen.png


If you boot the robot and it is running Intera, please follow these instructions to update the robot.

Basics

These Network Configuration settings are available in the Field Service Menu (FSM)

Basic Requirements

Sawyer must be connected to a development workstation which uses ROS over an ethernet network to communicate bi-directionally.

Sawyer's hostname can be configured using the Field Service Menu (FSM) if you do not like the one given out at the factory which matches its serial number.

Network address assignment

Sawyer supports IPV4 addressing for the following network configurations:

  • Automatic address assignment (“Automatic” mode)
    • If a DHCP server is present in the network, the DHCP server automatically assigns a network address to the robot, and may (or may not) assign a DNS server for host name resolution.
    • If no DHCP server is present, the robot will use the Autoip protocol to assign itself a link-local address in the 169.254.0.0/16 address block.
    • All assignments in this mode are automatic, and no options can be configured manually.
  • Manual address assignment from the Field Service Menu (“Manual” mode)
    • The user must specify a valid IPV4 address for the robot, and may optionally specify a network mask, default gateway address, and DNS server address. All network options are configured manually.

Host name resolution

In all addressing modes, Sawyer provides link-local advertising of the robot’s host name as “<robot name>.local” using the Avahi mDNS service. Computers that are located in the same subnet as the robot and that support mDNS can always resolve the robot’s host name as “<robot name>.local” even if no other host name resolution service is present. Sawyer will also be able to communicate with these computers using their host names.

In “Automatic” addressing mode, Sawyer will be able to resolve external host names only if the network’s DHCP server supplies a DNS server address. If the DHCP server does not provide a DNS server address, Sawyer will only be able to communicate with external computers by their IP addresses.

In “Manual” addressing mode, Sawyer will be able to resolve external host names only if the user specifies a DNS server address (and a default gateway address if computers in a different subnet are involved). If the user does not provide a DNS server address, Sawyer will only be able to communicate with computers by their IP addresses. If the user does not provide a default gateway address, Sawyer will only be able to communicate with computers within the same subnet.

ROS Naming Conventions

Intera robots supports 3 ROS naming conventions. These control how the ROS Master publishes the access information for the individual nodes published by the robot. Regardless of how you connect to the robot, you will need to be able to reach it by the address configured by its ROS naming convention if you want to be able to interact with it. (i.e. if you can reach the robot by its IP, but it is configured with the ROS_HOSTNAME convention and you can't reach it by its hostname, then you will be unable to do meaningful work with the robot)

  • ROS_HOSTNAME.local: This publishes the nodes at <robot hostname>.local
    • This is the least versatile, but the most stable configuration, and is our recommended when it is available.
    • This convention only works in a local setup, where your robot and development machine are on the same subnet, but will almost always work in that network configuration.
    • This will only break if
      • A naming conflict is introduced on the local network or
      • You manually change the hostname of the robot.
  • ROS_IP: This publishes the nodes at the IP4 Address associated with the robot
    • This is the most versatile naming convention, but also the most fragile.
    • It will work in any network configuration where you have connectivity to the robot, but will break if the IP of the robot changes
  • ROS_HOSTNAME: This publishes the nodes at the hostname of the robot.
    • This configuration has medium versatility and stability.
    • It only works if there is a working DNS running on your network, and pointed at the robot.
    • This will only break if
      • A naming conflict is introduced in the network or
      • If the the DNS-resolved hostname of the robot is changed, which can be done by the Server admin, but is unlikely to happen.

Network Configuration through a Router

Recommended Network Configuration

The recommended network configuration is to connect your development workstation and your Sawyer to an all in one SOHO (Small Office/Home Office) router/firewall similar to the Linksys EA-Series routers. This type of router provides DHCP and other networking services, and has the benefit of keeping the network traffic off of your main network. It also allows the development workstation access to internet in particular, the Rethink Robotics github repo for code and documentation.

Router Configuration Diagram

Router Config.png

  • Sawyer and the user's computer can both be set to "Automatic" addressing mode, which will draw IP information directly from the router.

Sawyer

  • Sawyer can be set to use either ROS_IP or ROS_HOSTNAME.local:
    1. ROS_HOSTNAME.local is our recommended ros naming protocol for the robot in this setup. It is very stable in this network configuration, and would only need to be adjusted if you switch to a separate subnet from the robot.
      • If you can ping <robot hostname>.local, then the network is working correctly
    2. ROS_IP is the most reliable naming method, if you know that the robot is going to keep its .IP. This naming protocol works across all network configurations as long as you have reliable routing to the robot.
      • If you can ping <robot ip> then the network is working correctly.
      • Note: You can set the robot to use a Static IP if you are interested in using this naming convention because you are unsure of your future network configurations, but be sure to talk to your network administrator if you are hooking your router up to a larger network.

Dev Machine

  • In this network configuration, you will want to have your intera.sh script point to either:
    1. ROS_IP = "<your development machine's IPV4 Address>"
      • Verify connectivity by attempting to ping <your development machine's IPV4 Address>
    2. ROS_HOSTNAME = "<your development machine's hostname>.local"
      • Verify connectivity attempting to ping <your development machine's hostname>.local

Connect Directly To Corporate Or University Network

Another viable networking configuration is to connect Sawyer directly to your corporate or university network. Here you need to make sure that a DHCP server is available, and that your name server can resolve Sawyer's hostname to an IP address.

You can set Sawyer to use either "Automatic" addressing or a static IP configuration in this configuration.

Note: If you want to set a static IP, you will need to talk to your network administrator to get an appropriate IP for you to assign, in order to avoid network collisions.

Sawyer

In this network configuration, you can use either ROS_IP or ROS_HOSTNAME ROS naming conventions

  • In this setup, we recommend using the ROS_HOSTNAME convention. This will rely on your DNS and on not having someone else register a duplicate of your hostname (so pick a unique one), but will be very stable in this network configuration.
    • If you can ping <robot hostname> then the network is working.
  • As mentioned in the previous section, ROS_IP is the most versatile ROS naming convention that works across the most network configurations, but is susceptible to automatic IP changes when a lease is exceeded.
    • If you can ping <robot IP> then the network is working.

Dev Machine

  • In this network configuration, you will want to have your intera.sh script point to either:
    1. ROS_IP = "<your development machine's IPV4 Address>"
      • Verify connectivity by attempting to ping <your development machine's IPV4 Address>
    2. ROS_HOSTNAME = "<your development machine's hostname>"
      • Verify connectivity by attempting to ping <your development machine's hostname>

Direct Network Configuration

If you do not have a DHCP server or other networking infrastructure, or would just prefer to connect your development workstation directly to Sawyer, you can do so using the following network configuration and steps.

Switch Configuration Diagram

Switch Config.png

Robot

In this setup, you will need to set your robot to use "Automatic" addressing, and can choose between ROS_IP and ROS_HOSTNAME.local for your ROS naming convention.

  1. ROS_HOSTNAME.local is our recommended ros naming protocol for the robot in this setup. It is very stable in this network configuration, and would only need to be adjusted if you switch to a separate subnet from the robot.
    • If you can ping <robot hostname>.local, then the network is working correctly
  2. ROS_IP is the most reliable naming method, if you know that the robot is going to keep its .IP. This naming protocol works across all network configurations as long as you have reliable routing to the robot.
    • If you can ping <robot ip> then the network is working correctly.
    • Note: You can set the robot to use a Static IP if you are interested in using this naming convention because you are unsure of your future network configurations, but be sure to talk to your network administrator if you are hooking your router up to a larger network.

Dev Machine

  • In this network configuration, you will want to have your intera.sh script point to either:
    1. ROS_IP = "<your development machine's IPV4 Address>"
      • Verify connectivity by attempting to ping <your development machine's IPV4 Address>
    2. ROS_HOSTNAME = "<your development machine's hostname>.local"
      • Verify connectivity by attempting to ping <your development machine's hostname>.local

Avahi Configuration Steps:

These steps assume your ethernet connection to the robot is on eth0.

  • Shutdown Sawyer and disconnect ethernet cable.
  • Connect the laptop/workstation to Sawyer using a Category-5 ethernet cable.
  • Power up Sawyer.
  • Disable firewall on laptop if necessary:
    $ sudo ufw disable
  • Turn off the Ubuntu Network-Manager to prevent interference:
  • Go to the Networking Icon drop-down menu in the top-right of the Desktop.
  • Make sure 'Enable Networking' is unchecked (if checked, select the option in the menu to disable)
  • Check status of eth0:
    $ ifconfig eth0

You should not see any IP addresses under 'inet'.

  • Use Avahi to designate an IP address to eth0 (do not close the terminal after running avahi-autoipd):
    $ sudo avahi-autoipd eth0
  • Make sure an IP address is successfully claimed. eg:
    Found user 'avahi-autoipd' (UID 104) and group 'avahi-autoipd' (GID 111).
    Successfully called chroot().
    Successfully dropped root privileges.
    Starting with address 169.254.8.16
    Callout BIND, address 169.254.8.16 on interface eth0
    Successfully claimed IP address 169.254.8.16

Keep this Terminal running in the background.

  • Open a New Terminal to continue.
  • Find the local hostname of the robot by running avahi-browse:
    $ avahi-browse -a -r
   The default local hostname of the robot is the Serial Number followed by local. Ex: '011303P0017.local'.

Troubleshooting

See the ROS Network Setup Guide for common ROS network issues and helpful debugging steps to check your base ROS connectivity.