RoPod/Tutorials/ConnectingToRobotWired

The ethernet-port of pico is configured automatically at start up. The settings can be found in /etc/network/interfaces. Here, the following lines were added:

auto enp2s0
iface enp2s0 inet static
address 10.0.0.2
netmask 255.255.255.0

Alternatively, if the port should be set-up once, then the following commands can be used:

sudo ifconfig enp2s0 10.0.0.2 netmask 255.255.255.0

Now, in order to connect to pico, the network-settings of your own pc should be set up properly. Go to your network icon and apply the following actions:

• edit connections

• add, ethernet connections, create

• fill in a connection name, e.g. pico-wired

• At device, fill in the network-address of your ethernet-port. You can select it in the drop-down menu or you can check it in the command line:

ifconfig

• Go to IPv4Settings, fill in "10.0.0.1" at the address, "24" at netmask and leave Gateway empty.

• save

If everything is configured properly, plug in a network-cable in pico and your pc, select the network you just created and ssh to the robot:

ssh ropod@10.0.0.2

or, using the alias

sshpico-wired

When ROS is used, an alias is created to load the right connection settings. Always run this command in each terminal when using the wired connection:

pico-wired

In order to read the topics on your own (desktop) pc, instead of "pico-core" you should now run

pico-core-wired