Payload Autonomy review

PABLO Hardware

PABLO Software trees


Connecting to the pablo with your laptop



\subsection{Connecting to the PABLO - Fall-back Methods}

When the PABLO boots, it will attempt to get an IP address for its
Ethernet port from a DHCP server. We will discuss DHCP in the next
section since this is the preferred method on the robot, and preferred
when connecting to the laptop. Under the DHCP mode, we typically have
the robot or laptop configured to connect to the global Internet which
is important for pulling down code and other updates.

\vspace{0.15in}
\noindent
When the PABLO boots, if it cannot obtain an IP address via DHCP, the
Ethernet (\var{eth0}) interface will fall back to having the IP
address of \var{192.168.4.24}. So a fall-back option for connecting
with your laptop, or any machine over a direct Ethernet connection, is
to set your machine's Ethernet IP address manually to say
\var{192.168.4.6}, and just connect with:

\vspace{0.15in}
\begin{consoleverb}
$ ssh -l student2680 192.168.4.24
\end{consoleverb}
\vspace{0.15in}

\noindent
If the above doesn't work, try \cmd{ping 192.168.4.24}. If
\cmd{ping} works then re-check your typing in the \cmd{ssh} command.
If this option or any of the below methods do not work, your ultimate
fallback is to connect with a monitor and keyboard and check out what
is going on by running \cmd{ifconfig} once you've logged on to the
PABLO.



















Connecting to the Pablo for preparation
1. Turn on Internet sharing on the Mac (Sharing WiFi with Ethernet)
2. Clear the DHCP cache on the mac:

   $ MacConfigSharing.sh --clear

3. Confirm the DCHP cache is clear:

   $ MacConfigSharing.sh --clear

4(a) add pablo ssh key. Alias sshap. waterbots

4(b) Log into the Pablo:
     $ ssh -l student2680 192.168.2.2



The issue with the connection between Macs and PABLO boxes has been identified,
a fix was created and tested. Here are the steps if you are a Mac user trying
to connect to your PABLO. If you have the chance to try these steps before
Tuesday that would be great. Otherwise we will work through any remaining problems
during Tuesday's class. Here are the steps.


1. Log into your Mac and download a new helper script. Let's put it in your
   moos-ivp-extend/bin folder so it will already be in your shell path:

   $ cd moos-ivp-extend/bin
   $ wget http://oceanai.mit.edu/pavlab/docs/MacPablo.sh
   $ chmod u+x MacPablo.sh
   $ which MacPablo.sh
   /Users/you/moos-ivp-you/bin/MacPablo.sh

2. Turn off Internet Sharing on your Mac from you Systems/Sharing dialog box

3. Run the script as follows (it will prompt for password):

   $ MacPablo.sh --xclear

   This should remove a system configuration file:
   /Library/Preferences/SystemConfiguration/com.apple.nat.plist

4. Confirm that this file no longer exists:

   $ MacPablo.sh --xshow
   cat: /Library/Preferences/SystemConfiguration/com.apple.nat.plist:
   No such file or directory

5. Restart your computer and log back in

6. Turn on Internet Sharing again from your Systems/Sharing dialog box.
   When you run "MacPablo.sh --xshow again, it should write the contents
   of this file to the screen. It was (re)created automatically. 

At this point you should be ready to connect a PABLO to your MAC.

a) Connect the Ethernet cables
b) Power on the PABLO
c) Run MacPablo.sh -s until you see content appear. It should look
   something like:
 
   {
       name=PABLO
       ip_address=192.168.2.2
       hw_address=1,dc:a6:32:4b:88:c0
       identifier=1,dc:a6:32:4b:88:c0
       lease=0x62535727
   }

d) The above confirms that you have a PABLO connected with IP address 192.168.2.2.
   Now try pinging the PABLO from a terminal window on your laptop:

   $ ping 192.168.2.2

e) If the ping is responsive, try logging into your PABLO

   $ ssh -l student2680 192.168.2.2   (passwd is waterbotz)

f) Once you are logged in and have a shell problem with "PABLO", check that
   your PABLO has external Internet access:

   $ ping oceanai.mit.edu

Assuming this ping is also responsive, you are ready to proceed with
pulling your git repo onto the pablo.