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To interact with the rocket you'll need a laptop. Ideally you can use the Thinkpad P1 (andrea-pc) which is at TP. Otherwise, youll have to do a few steps to configure your machine.

Setting up the Local Wifi

You can find the password for fma-d here.

Setup wifi sharing

You'll probably want to push and pull changes on the rocket to the crs repo. To do so, the RPi needs internet access. Since fma-d is a local network you will have to share the wifi of your laptop with the Pi. On ubuntu, you can follow these steps:

  1. Connect your PC and the RPi using an ethernet cable.
  2. Open the network settings. You should see the active connection which is named "wired connection 1" or "Profile 1" or something similar.
  3. Click on the "+" icon to create a new profile
    1. Name it something like "SharedToRobot" or something which you'll remember
    2. Go to the IPv4 tab and change the IPv4 Method from Automatic (DHCP) to Shared to other computers
      • If you do not see this option, save the profile you just created, open a terminal and type nm-connection-editor
      • Select the profile you created from the "Ethernet" toggle
      • Go to IPv4 Settings and set Method to Shared to other computers and press "Save"
  4. If you ssh to the rocket over ethernet using ssh ubuntu@emborocket.local, you should now have internet access if your laptop is connected to eduroam

:information_source: Note: It may be necessary to disable (or reconfigure) the firewall to allow network sharing.

Accessing ROS Topics on the Host

If you wish to visualize ROS topics running on the rocket on your laptop you can follow these steps:

  1. Connect to the rocket (wifi or lan)
  2. run tmux in terminal (you can also check if a tmux session is already running using tmux ls and if only one session is running tmux a)
  3. Make sure network_mode: “host” is set in the docker compose
    • We need to expose all ports to the host machine so we can connect to the roscore and stream topics to another machine
  4. Start crs docker (crs-docker run form the crs directory) in one tmux window and run roscore
  5. In another tmux window, figure out the ip address of the pi using ip a for the specific network you want to use for the test (probably eth0 for lan and wlan0 for wifi).
  6. In another tmux window, docker exec -it <CRS-DOCKER-NAME> bash
    1. Then, export ROS_MASTER_URI=http://emborocket.local:11311 and export ROS_IP=<IP-OF-PI> where you insert the ip you found in step 5.
    2. roslaunch your favourite program
  7. on the ‘visualization laptop’, export ROS_MASTER_URI=http://emborocket.local:11311 and then you should be able to see the topics being streamed rostopic echo /your/favourite/topic
  8. Launch your favourite visualizer