> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/bru/connect-to-robot.md).

# Controlling Robots from VNC

Before you get started, make sure you have the latest version of `rosutils` on your VNC To update rosutils, use the command `cd ~/rosutils && git pull`

You will then need to run the command `source ~/.bashrc` after updating rosutils

## Turning on the robot (Turtlebot3)

1. Make note of the name of your robot written on the top.

   ![](https://4196336753-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LULg3WmBk4r0dWAdK9A%2Fuploads%2Fgit-blob-9dbea2edf991ec438aa004ca3c565c0980e11637%2Fname.jpg?alt=media)
2. Connect the battery to the robot.

   ![](https://4196336753-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LULg3WmBk4r0dWAdK9A%2Fuploads%2Fgit-blob-7f2e4dca3760c7fe02dd91bc06cdc1fc6cc6591f%2Fbattery.jpg?alt=media)
3. Turn on the robot using the switch just under the camera.

   ![](https://4196336753-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LULg3WmBk4r0dWAdK9A%2Fuploads%2Fgit-blob-72e35141fab7c4d8da0c8bdfb3eefa014155d00d%2Fswitch.jpg?alt=media)
4. You should see the lights on the raspberry pi in the robot turn green. The robot may take up to a minute to finish its boot sequence.

## Steps to connect

1. Make note of the name of your robot. It should be written on the top of the robot. For the purposes of this tutorial, I will be connecting to **roba**, but you should replace **roba** with the name of your robot.
2. Run `tailscale status | grep roba` in a terminal. You should get an output that looks something like this: `100.86.78.102 roba pitosalas@ linux -`. Make note of the IP starting with 100, this is the IP address of your robot.
3. Edit the file `~/.bashrc` in your vscode editor on the VNC. Add the following two lines to the bottom of the file, but in the second line you will need to replace where it says `roba` and the IP address with the name of your robot and your robot's IP address respectively.

```
$(bru mode real)
$(bru name roba -m 100.86.78.102)
```

4. Run the command `sb` in the terminal. You should see your command prompt change to something that looks like this: `[real:roba]`
5. If the robot is already on, run the command `sshrobot` in your terminal in your VNC. You might be asked to add a new ssh fingerprint, if so simply type `yes` in the prompt and continue. You will be asked the password of the robot, which is going to be `ROSlab134` for all of the lab robots.
6. Once you see that your terminal prompt looks like `[onboard:roba]` you are connected to the robot. The final step is to type `bringup` in the robot's terminal. This will run the bringup script so it is crucial that you do not close the terminal where this is running.


---

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