Network setup

To enable the ROS communication between the OP2 and the PC, we need to set up a fully bidirectional passwordless ssh connection.

Connect the PC to the OP2 via LAN. First install shh on the PC.

sudo apt-get install ssh

Now you can use ssh to connect the PC to the OP2 with the username “robotis”(Password 111111) and the IP adress 192.168.123.1. Run on the PC

ssh [email protected]

If you want to run an application with a GUI (e.g. gedit), add the -X option to the command

ssh -X [email protected]

Close the connection with

exit

Now we set up an alias. Run

sudo nano /etc/hosts

and add the IP and the computer name of OP2. You can find the computer name by opening a terminal on the OP2. The part between the @ : is the computer name. For the default configuration robotis@robotis:$ it is robotis and you can simply add the following line.

192.168.123.1 robotis

After you added the alias, save the file and close it. Now you should be able to connect to the OP2 (Password 111111) with

ssh robotis@robotis

Close the connection with

exit

Furthermore, we need to setup the connection as a passwordless ssh. Run in the terminal

ssh-keygen

press 3 times <Enter> to use default file and no passphrase

ssh-copy-id robotis@robotis
ssh robotis@robotis

Now, you should be able to log in without any password. Close the connection

exit

After finishing the passwordless ssh setup on the PC, we need to set up the passwordless ssh on the robot. Repeat the previous step on the OP2 with the IP and the computer name of the PC.