Environment Setup

Bash Setup

Add these to your .bashrc in both robot and desktop.

export LANG=en_US.UTF-8
export ROS_DOMAIN_ID=0
export ROS_VERSION=2
export ROS_PYTHON_VERSION=3
export ROS_DISTRO=humble
export ROS_LOCALHOST_ONLY=0
export ROBOT_MODEL=caretta
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
source /opt/ros/humble/setup.bash

SSH setup

Use ssh keys to effortlessly login to your robot. Add your public key to ~/.ssh/authorized_keys file on the robot.

Create a ~/ssh/config file. Inside put:

Host robot
    User ubuntu
    Hostname robot.local

Change Host for your robot’s nickname, User to your username on robot’s computer and Hostname the the robot’s hostname. So you can login to your robot:

ssh robot

Next Section: Networking

ACADA Robotics • Documentation • ROS Course for Beginners • Robot and Workstation Setup • Environment Setup

Bash Setup

SSH setup