Robot Interface

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

Important

This procedure should be followed after reading the manuals for the Clearpath Husky as well as the Universal Robots UR5e. Furthermore, all of the Husky’s functionality can be verified via the tutorials by Clearpath. Instructions for set up can be found at Husky Docs .

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

Static 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 192.168.131.51 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:

ifconfig

Now, ping the robot:

ping 192.168.131.1

Access the robot via SSH:

ssh -X administrator@192.168.131.1

The default password is:

mybotshop

Husky IP Addresses

Device	IP Address	Password
Husky MCU	192.168.131.1	mybotshop
Husky Nvidia	192.168.131.4	mybotshop
Router	192.168.131.100	mybotshop
UR5e	192.168.131.5	X
Husky Hokuyo	192.168.131.21	X

Note

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