Tags: github, work
Author: Erwan MARTIN
this config is made for ethernet connection on your network.
Turn on the robot, connect it in Ethernet with your computer and then, connect with SSH on it (with the command below
(you may have to wait a minute or two because the robot is quite long to start).
#commande for testing the connection:
ping 169.254.200.200
#command to connect with SSH, you will need it several times.
ssh niryo@169.254.200.200confirm the connection by tapping “yes” if needed then type the password: "robotics"
once connected, we’ll change the robot hostname to be able to recognize it in case you have more than one robot.
cd /etc
sudo nano hostnamereplace the name written in the file by your chossen name.
Then with CTRL+O -> ENTER -> CTRL+X, save and exit.
There is an other file to modify
sudo nano hostsmodify the overlined name above then save and exit (CTRL+O -> ENTER -> CTRL+X)
The next stem is order to the robot to connect to your network
install the whole NED_mqtt_control package as a ZIP on your computer
then unzip the file, and then, with the command above, send it to the robot in his home space.
make this command on your computer shell, replacing “$PATH” with the path the unzipped packages are located.
#ON YOUR COMPUTER
scp -r $CHEMINDEVOTREPC/NED_mqtt_control niryo@169.254.200.200:~/then reconnect to the robot in SSH then type the password: "robotics"
Maintenant, on va lancer la configuration réseau automatisée. connectez vous en ssh au robot, puis effectuez les commandes suivantes:
#SSH on the robot
cd
cd NED_mqtt_control
chmod 777 * #type sudo befor the line if you have a permission error
./network.sh
#you may have to confirm with "yes" inputs, or with ENTER keythe IP will be asked, give to the robot a correct IP for your network
The network configs should be finished, you just have to restart the robot.
I don’t recommand to do Niryo’s updates once you installed the whole package, this can make it unwork or delete it from the robot.
You may have to reinstall the package if you do update (if the version is still compatible with it).
if you didn’t do it during the network config:
unzip the file, and then, with the command above, send it to the robot in his home space.
make this command on your computer shell, replacing “$PATH” with the path the unzipped packages are located.
#SUR VOTRE ORDINATEUR OU IL Y A LE DOSSIER!!!
#pensez a changer l'ip
scp -r $CHEMINDEVOTREPC/NED_mqtt_control niryo@169.254.200.200:~/then reconnect to the robot in SSH then type the password: "robotics"
then go into the installed file and run the auto installation (you need an internet connection)
some confirmations will be asked.
#ssh on robot
cd ~/NED_mqtt_control
sudo chmod 777 *
#default password: robotics
sudo ./install.shAfter the catkin_make (after the 100%), the installs should be finished.
The next step will explain how to automatically run the programs on boot
somes manip are to do to automaticly run the programs on boot.
the commands below are to enter in the robot in SSH.
edit the tty1 file:
sudo systemctl edit getty@tty1Once in the file: write those lines init:
#tty1 - getty
[Service]
ExecStart=
ExecStart=-/sbin/agetty -a niryo --noclear %I tty1CTRL+0 -> ENTREE -> CTRL+X to save and exit.
then, in the .bashrc file, we will launch the bash file wich permit the autorun.
nano ~/.bashrcadd those lines in the end of the .bashrc file:
source /home/niryo/catkin_ws/install/release/ned/setup.bash
export NAME=NED2
#AUTOBOOT
Terminal=`tty`
case $Terminal in
"/dev/tty1")
~/bootStart.sh
;;
esacCTRL+0 -> ENTREE -> CTRL+X to save and leave.
If you restart the robot, it is suppose to auto recalibrate approximately 35secs after the LEDs turning on.
Node-Red is a developpment tool based on flows. We can do bloc programming on it but also make our own nodes in javascript.
For us, node will give mqtt command, because it provide MQTT nodes.
if not installed:
sudo apt-get install nodejsnode-red install:
sudo npm install -g --unsafe-perm node-redwhen it worked, you will be able to run the node-red command
go on the http://127.0.0.1:1880/ , you’ll have acces to the programming interface
you can install packages directtly from the menu (top right corner) on “manage palette”:
you have the install part where you can search the packages you want to install
if you have any questions, I can be contacted at the email: