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.