.. tab-set::

   .. tab-item:: Foxy
      :sync: foxy

      .. note::

          Instructions for interfacing with the robot using **Ubuntu 20.04 LTS (Focal Fossa)** and **ROS 2 Foxy Fitzroy**.

   .. tab-item:: Humble
      :sync: humble

      .. note::

          Instructions for interfacing with the robot using **Ubuntu 22.04 LTS (Jammy Jellyfish)** and **ROS 2 Humble Hawksbill**.

   .. tab-item:: Jazzy
      :sync: jazzy
      :selected:

      .. note::

          Instructions for interfacing with the robot using **Ubuntu 24.04 LTS (Noble Numbat)** and **ROS 2 Jazzy Jalisco**.

.. important::

    This procedure should be followed after reading the manuals for the Clearpath Jackal. Furthermore, all of the Jackal's functionality can be verified
    via the tutorials by Clearpath. Instructions for set up can be found at `Jackal Docs <https://docs.clearpathrobotics.com/docs/ros/>`__ .

.. _network_interface:

Network Interface
=================

.. tab-set::

   .. tab-item:: Foxy
      :sync: foxy

      .. include:: foxy/network.rst

   .. tab-item:: Humble
      :sync: humble

      .. include:: humble/network.rst

   .. tab-item:: Jazzy
      :sync: jazzy
      :selected:

      .. include:: jazzy/network.rst

Jackal Screen Connection
========================

An alternative method to connect with the Jackal is by utilizing an HDMI cable along with a mouse and keyboard. This setup facilitates the
connection of the Jackal to your local WiFi network, enabling subsequent connections via WiFi.

.. figure:: media/pictures/jackal_hdmi.webp
   :width: 70%
   :align: center


Jackal PC Setup
===============

To utilize this method:

1. Access your networks and add your WiFi connection.
2. Open the terminal and type:

.. code:: bash

    ifconfig

Identify the IP that starts with **wl** (e.g., **wlps0** ). This IP corresponds to your WiFi connection. Use this IP to SSH into your robot:

.. code:: bash

    ssh -X administrator@192.168.0.228

Replace **192.168.0.228** with the actual IP obtained from the :code:`ifconfig` command. This will establish an SSH connection to your robot.

.. Note::

    The provided IP (**192.168.0.228**) is an example. The real IP is acquired from the :code:`ifconfig` command output.