View source for Instructions for getting started

Back to [[Robobot]]


== This part needs to be redone ==

Major parts are deprecated, but some are OK.

==Connect to the raspberry pi==

There are more possibilities to connect to the raspberry pi:
* a screen and a keyboard (nice, but not good for a mobile robot)
* a net cable from Robobot directly to your PC (better, but still a cable)
* connect both the Robobot and your PC to the same local network using cable
* connect Robobot to net using a cable and the PC to the net that has access to the same net
* connect raspberry to eduroam (one of the others needed first to configure logon)
* there are other ways too

===Connecting Raspberry pi to PC using cable===

Connect your PC with Robobot using a network cable.

Your PC should receive an IP from the raspberry pi and the raspberry pi on the Robobot should have 
IP: 192.168.17.2, so logon (from Linux, or using putty):

Linux console command:
 ssh local@192.168.17.2

Putty (Windows, Apple or Linux):
 use ssh, IP 192.168.17.2, port 22
 username local

ask for the password (or look on the course page)

===Usefull Linux commands===

Here is some common commands in Linux

 ls     (directory file list)
 cd     (change to home directory)
 cd some_directory    (change to a subdirectory)
 exit   (logout, e.g. of a ssh session)
 grep -n string_to_look_for_in_a_file  *.cpp     (find a string in a file, e.g. a variable or a function)
 sudo some_command    (execute a command as "root" - root is a superuser with administrator rights to everything)
 pkill some_application_name  (stop (or kill) a running process with name "some_application_name")
 pgrep some_application_name  (see if a process is running - good to use before a kill)
 mv  from_file to_file    (rename a file)
 cp  from_file to_file    (copy a file)
 rm  some_file            (remove (delete) a file)
 nano some_file           (simple text editor)
 zip, unzip               (pack or unpack files -  try zip --help   to see how.
 top     (see process load and memory usage)
 make    (compile all as described in the "Makefile" in the same directory)
 make -j4 (compile using up to 4 CPU cores - faster if more files need to be compiled)

All commands have an on-line help if you add --help or -h after the command.
If this is not enough, then try 
 man ls
to get the manual page for the ls command.

===Connecting network===

Start by plugging the Raspberry Pi either directly to your PC or to one of the routers on campus. Make sure that you are on the same local network for this.

SSH into the Raspberry Pi by opening a terminal and typing
 ssh local@jasmin.local
Replace '''jasmin''' with the name of the your robot

====WiFi network====

Now open wpa_supplicant.conf
 sudo nano /etc/wpa_supplicant/wpa_supplicant.conf

If you added an wifi access point, it probably looks something like this

 network={
        ssid="device"
        key_mgmt=NONE
 }

or 

 network={
        ssid="tdc432"
        psk="secret_password"
        key_mgmt=WPA-PSK
        id_str=home
}

You can add any number of the "network" groups for all the networks you get across
If you don't like the network password to be visible, see guide below.

====Private network====

Generate encrypted key with

 wpa_passphrase mySSID secret776

if the desired SSID is "mySSID" and the password is "secret776", then copy the result into /etc/wpa_supplicant/wpa_supplicant.conf (except the line with the password in clear text).

 network={
        ssid="mySSID"
        #psk="secret776"
        psk=812439e952156aea9983f3df5a389cf3f9c2e9f30ae2624eaad1551612a6ef71
 }

====Connecting Raspberry Pi to Eduroam====

When connecting to Eduroam you will eventually have to type in your username and password in the wpa_supplicant.conf-file. In order for your password not to be visible, generate a hash-code for it

 echo -n password_here | iconv -t utf16le | openssl md4

Copy the hash-code and clear the terminal window

 clear

Now open wpa_supplicant.conf
 sudo nano /etc/wpa_supplicant/wpa_supplicant.conf
Comment out or replace whatever in this file so that the content corresponds to the following
 country=DK
 ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
 ctrl_interface_group=0
 update_config=1
 network={
         ssid="eduroam"
         scan_ssid=1
         key_mgmt=WPA-EAP
         eap=PEAP
         phase2="auth=MSCHAPV2"
         identity="username"
         password=hash:your_hash_code
 }
Replace '''username''' with your username for Eduroam, i.e. your student number and replace '''your_hash_code''' with the hash-code you generated in the previous step.

Reboot the Raspberry Pi
 sudo reboot
 or
 sudo /etc/init.d/networking restart
When the Pi has rebooted, connect to it using SSH once again. Check that the Pi is connected to WiFi
 ifconfig
Under '''wlan0''' confirm that the Pi has received an IP (inet addr) and note down the first three sections of the IP - they are most likely '''10.16.175.xxx'''

To see which SSID you are connected to use
 iwconfig

The MAC address ('HWaddr' or 'ether') of the Pi should also be noted down - this probably starts with '''B8:27:EB:xx:xx:xx''' make sure to get all of it.

Remove the LAN-cabel and connect to the Pi using the IP
 ssh local@IP
Replace '''IP''' with the actual ID of the robot.

===Graphics (X) ===

If you want to forward the graphics from the Pi use '''-X''' when connecting
 ssh -X local@IP

===Find IP of robot (Linux)===

In case the Pi gets a new IP address after reboot, you can search for it using the MAC address and '''nmap'''. If '''nmap''' is not installed, start by installing it
 sudo apt-get install nmap
To search for the Pi using the MAC address in terminal type
 sudo nmap -sP 10.16.175.0/24 | awk '/^Nmap/{ip=$NF}/B8:27:EB:23:A0:F5/{print ip}'
where '''10.16.175''' is the first three sections of the IP you noted down and '''B8:27:EB:23:A0:F5''' is the MAC address of the Pi. This should return the IP of the Pi.

NB! the MAC can hold letters, they should probably be capital.

Use the first part, to get a list of active IP on the net:
  sudo nmap -sP 10.16.175.0/24