Connect to the Robot

Open a terminal inside the robot

This section explains how to connect to the robot through ssh (Secure Shell) protocol over a terminal. This is a convenient way to access the robot’s file system and execute commands remotely. The robot can be accessed either by its IP address or its hostname. In section Network configuration is explained how to find the IP of the robot.

ssh pal@kangaroo-Xc

Where X should be the serial number of your robot.

The password is pal

Tip

To avoid communication delays, it’s preferable to deploy and execute all your applications inside the Control PC of the robot. This is specifically critical for any developed controller that should always run inside the robot.

Open a terminal pointing to the robot

To connect a terminal pointing to the robot.

export export ROS_MASTER_URI=http://kangaroo-Xc:11311/

Where X should be the serial number of your robot

export ROS_IP=IP_OF_YOUR_PC

Check that you can list all the topics and could receive messages from this terminal.

rostopic list

rostopic echo /joint_states

Tip

Only open a terminal pointing to the robot when your application requires some visual interface such as RViz.d

Tip

To avoid setting the IP each time, you can manually put the hostname and the IP of the robot in your /etc/hosts and viceversa.

Tip

If you are connected by cable to the robot the IP should be in the range 10.68.0.X

To open a terminal inside the robot