private-networking.md
100.89.2.122 desktop-1 \ / robot-1 100.89.2.122
\ /
100.99.32.12 desktop-2 - - - - - robot-2 100.99.31.234
/ \
100.88.77.234 desktop-3 / \ robot-3 100.86.232.111
Introduction
To facilitate lab@home, we have created a private network for connect robots and computers together using Tailscale. This private network allows anyone to connect to any robots on the network around the world.
Setup robot for private networking
Requirement
Raspberry Pi
Authkey (like this
tskey-123abc456
)Running either
Raspbian 10
,Ubuntu 18.04
, orUbuntu 20.04
Installation
Clone the repo:
https://github.com/pitosalas/tb3-ros.git
cd tb3-ros/clients
chmod +x pi_connect.sh
# Run the script with the authkey
sudo ./pi_connect.sh tskey-123abc456
# On successful connect, you should see this
Connected. IP address: 100.xx.xxx.xxx
Once the robot is successfully connected to the network, you can try to reach it via cloud desktop
ssh pi@100.xx.xxx.xxx
Now that the robot is on the network, you can configure your cloud desktop to control the robot directly.
Setup robot remote control
To control a specific robot, you need to connect to its ROS
master.
On your robot, edit ~/.bashrc
, add or replace the following lines:
# Replace with the robot's Tailscale IP
export ROS_MASTER_URI=http://100.xx.xxx.xxx:11311/
export ROS_IP=100.xx.xxx.xxx
On your cloud desktop (or your computer if you are not using cloud desktop), edit ~/.bashrc
, add or replace with the following lines:
# Replace with the robot's Tailscale IP
export ROS_MASTER_URI=http://100.xx.xxx.xxx:11311/
# Replace with the cloud desktop's IP
export ROS_IP=172.xx.xxx.xxx
Once this is setup, test the connectivity with
rostopic list
Setup non cloud desktop for private networking
You can still connect to the private network without using cloud desktop. However, right now we have limited support for OS.
Officially supported
Ubuntu 18.04
Ubuntu 20.04
Unofficially supported
MacOS
Check this list
Officially supported installation
Clone the repo:
https://github.com/pitosalas/tb3-ros.git
cd tb3-ros/clients
chmod +x pi_connect.sh
# Run the script with the authkey
sudo ./pi_connect.sh tskey-123abc456
# On successful connect, you should see this
Connected. IP address: 100.xx.xxx.xxx
To connect to the network after every reboot, just do
sudo ./pi_connect.sh tskey-123abc456
Unofficially supported installation
Caution: all the instructions here have not been tested, you are on your own!!!
MacOS
Download and Install Tailscale from App Store
Open the App, DO NOT login
With your terminal do,
$(ps -xo comm | grep MacOS/Tailscale$) up --authkey=tskey-123abc456 --accept-routes
Everything else
Follow the instructions for installing for your OS here.
Once you have Tailscale installed, you can start it with the following command
sudo tailscale up --authkey=tskey-123abc456 --accept-routes
Now that your computer is on the network, follow the instructions to control the robot directly.
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