Robot Interface
===============
.. Note:: 
        
        Instructions for interfacing with the robot using **Ubuntu 20.04** and **ROS Noetic**.


.. figure:: media/figures/robot_interface.webp
   :width: 100%
   :align: center
   :class: mbsrounded 

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

Static IP Configuration
=======================

For the first time, one needs to connect through a **LAN** cable to configure the robot’s WLAN 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:

.. code:: bash

    ifconfig

Now, ping the robot:



.. code:: bash

    ping 192.168.131.1

Access the robot via SSH:

.. code:: bash

    ssh -X administrator@192.168.131.1

The default password is:

.. code:: bash

    mybotshop

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


Network Table
=============

All the devices on the robot are network enabled. Table
`[robot_network] <#robot_network>`__ outlines all the devices and their
network addresses.

.. table:: Ridgeback network devices

   ============= =============== ===============
   Device        Network Address    Password
   ============= =============== ===============
   Ridgeback     192.168.131.1     mybotshop 
   Ridgeback MCU 192.168.131.2         
   Nvidia IP     192.168.131.4     mybotshop 
   UR5e IP       192.168.131.5     
   Hokuyo Front  192.168.131.20
   Hokuyo Rear   192.168.131.21
   Steamdeck     192.168.131.150
   Ouster        192.168.131.22
   Router        192.168.131.100
   ============= =============== ===============

Screen Connection
-----------------

An alternative for connecting to the robot is by plugging in an HDMI cable as well as a mouse and
keyboard. This allows you to connect the robot from your own local network.

ROS Multimachine 
================

To use Rviz on your pc for faster updates please setup the multimachine. By default, if you connect to the built-in router, you need 
only to follow the builtin router subsection.

Multimachine - Client - Builtin Router
--------------------------------------

For all the terminals in your pc, you may export these environment variables. The ros master should correspond to the robots ip where 
as the ros ip and ros hostname should correspond to your pc’s ip that is connected to the robot in the same network.

.. code:: bash

    export ROS_MASTER_URI = http://192.168.131.1:11311/
    export ROS_IP =192.168.131. < your_assigned_ip_from_router >
    export ROS_HOSTNAME =192.168.131. < your_assigned_ip_from_router >

.. Important:: 
        
        Please note that you should ideally have the :code:`mmp_description` and :code:`mmp_viz` rospackages built on your pc so that you may view 
        the robot over the network.

Multi Machine - Host - Custom Router
------------------------------------

For all the terminals in the robot 4 — 5 recommended, you can export the following environment variables. The ip should correspond 
to the ip address of your robot which has been obtained from :code:`sudo nmtui`.

.. code:: bash

    export ROS_MASTER_URI =http://192.168.0.219:11311/
    export ROS_IP =192.168.0.219
    export ROS_HOSTNAME =192.168.0.219

Multimachine - Client - Custom Router
-------------------------------------

For all the terminals in your pc, you may export these environment variables. The ros master should correspond to the robots ip where 
as the ros ip and ros hostname should correspond to your pc’s ip that is connected to the robot in the same network.

.. code:: bash

    export ROS_MASTER_URI =http://192.168.0.219:11311/
    export ROS_IP =192.168.0.225
    export ROS_HOSTNAME =192.168.0.225

.. Important:: 
        
        Please note that you should ideally have the :code:`mmp_description` and :code:`mmp_viz` rospackages built on your pc so that you may view 
        the robot over the network.

Multimachine Usage
------------------

Stop the mmp service via (On the robot).

.. code:: bash

    sudo service mmp stop

On the robot launch.

.. code:: bash

    roslaunch mmp_startup system_startup.launch

On the users pc launch.

.. code:: bash

    roslaunch mmp_viz view_robot.launch