How to Connect to the OU TurtleBots

These instructions are designed for your use with the CSN desktop computers in Felgar Hall 300. They refer to the machine that you are sitting at (CSN desktop computer) as the local computer and the laptop computer that is carried by the TurtleBot as the remote computer.

Connecting to an OU TurtleBot

1. Check to make sure that the following are set up correctly and ready to go:
   1. TurtleBot laptop is turned on and awake.
   2. TurtleBot laptop is connected to its base via one USB cable and to its Xtion sensor via a second USB cable.
   3. TurtleBot base is turned on.
   4. Local computer is connected to the switch with the wireless router.
2. Open a terminal on your local machine and connect to the remote machine via ssh: ssh -Y turtlebot@turtlebot_name
   
   • Note that turtlebot_name must be replaced with one of the actual TurtleBot names.
   • Note that the password was given out previously. Please check with Prof Hougen or a classmate if you cannot recall the password.
   • If the local machine reports that there is no route to host, open up the TurtleBot then check the wifi connection. It should be connected to the Turtlebot Private network (rather than OU Wifi, for example).

Using an OU TurtleBot

• Before you command the TurtleBot to move, be sure to unplug both the laptop and the base from their power supplies and close the laptop and stow it safely within the tower as demonstrated in class. When stowed, the laptop should not extend beyond the front of the robot's base in order to minimize the possibility of damage to the laptop.
• When you have finished using the TurtleBot, please return it to its starting location and plug in both the laptop and the base. You may leave the laptop stowed.
• Suggested commands for use with this setup can be found on Prof Fagg's OU Turtlebot Start Up page.