@@ -16,13 +16,30 @@ Regular users do not need to do any setup. For admins, see details below.
<details><summary>Setup details</summary>
To set a robot up, connect to it via SSH with login `ubuntu`. Authentication is with private key.
To set a robot up, connect to it via SSH with login `ubuntu`. Authentication is with private key or password `turtlebot`.
```sh
ssh ubuntu@176.16.1.XXX
```
The robot hosts several ROS nodes: `turtlebot3_bringup` (to access motors, LiDAR, etc), `v4l2_camera` (to access camera data), `̀turtlebot_simple_action_server` (for high-level actions to drive the robot), `rosbridge_server` (for external access to nodes via WebSocket). Commands to run these nodes are given below. Each command must be run in a separate SSH terminal.
The robot hosts several ROS nodes: `turtlebot3_bringup` (to access motors, LiDAR, etc), `v4l2_camera` (to access camera data), `̀turtlebot_simple_action_server` (for high-level actions to drive the robot), `rosbridge_server` (for external access to nodes via WebSocket). Two modes to run these nodes:
1. Using systemd services
Three services has been generated in `/etc/systemd/system/`: `ros2_bringup.service`, `ros2_rosbridge.service` and `ros2_camera.service`. To run it:
```sh
sudo systemctl start XXX.service
```
To check status:
```sh
sudo systemctl status XXX.service
```
2. Using shell commands
Commands to run these nodes are given below. Each command must be run in a separate SSH terminal.
