Robot Interface
===============

Instructions for interfacing with the robot using **Ubuntu 22.04** and **ROS2 Humble**.
    

.. figure:: media/pictures/p1/interface.png
   :width: 100%
   :align: center

|

The Ethernet port at the back of the P1 can be utilized for setting up communication via LAN.

Network Connection
==================

For the first time, one needs to connect through a **LAN** cable to configure the robot’s network. To create a static connection in your PC (not the robots), in 
Ubuntu go to Settings → **Network** then click on **+** and create a new connection.

1. Change the connection to **Manual** in the **IPv4** settings.
2. Set the **Address** IP as **10.192.1.200** and the **Netmask** as 24.
3. Click save and restart your network.

After a successful connection, check the host’s local IP by typing in the Host PC’s terminal:

.. code:: bash

    ifconfig

Now, ping the robot:

.. code:: bash

    ping 10.192.1.2

Access the robot via SSH:

.. code:: bash

    ssh -X limx@10.192.1.2

The default password is:

.. code:: bash

    123123

IP Addresses
============

+------------------+-----------------------+------------+
| Device           | IP Address            | Password   |
+==================+=======================+============+
| P1 MCU           | 10.192.1.2            | 123123     |
+------------------+-----------------------+------------+

.. note:: 

    Sometimes other networks can cause disruptions when connecting to the P1. It is best to have only your connection to 
    the robot active and all others inactive.