SSH

Login without entering password

Credit: Oscar Lima

This section assumes you already generated ssh keys. You can follow these instructions (steps 1 and 2 only).

1. Copy your ssh keys into clipboard and paste the content of your key into the clipboard using the following instructions:

    sudo apt-get install xclip
    xclip -sel clip < ~/.ssh/id_rsa.pub

2. ssh into desired pc, e.g.

    ssh user@youbot-brsu-2-pc1

   NOTE: you need an account for that on the youbot, if you don't have, you can ask Fred for one

3. Create authorized keys file

    nano ~/.ssh/authorized_keys

4. Paste the content of the clipboard there(ctrl + shift + v), save (ctrl + o, then enter) and close (ctrl + x)

5. Give proper permissions to the ssh folder and authorized keys file (current tests indicate this step is not needed)

    chmod 700 ~/.ssh
    chmod 600 ~/.ssh/authorized_keys

Done! Now you should be able to log into the robot without entering password

To open GUI applications in client PC

Credit: Oscar Lima

Example: gedit a file on youbot, but display it in your PC

    ssh -X youbot-brsu-2-pc1

To tell your computer that the roscore is running on another PC and communicate accordingly trough the network.

Credit: Oscar Lima

Example: run some nodes in one computer and other nodes in another computer which can fully communicate with each other.

Drawback: the wifi speed will not allow you to transfer heavy data over the net.

Usage:

1. Set environment variable ROS_MASTER_URI to point to the PC in which the roscore is currently running:

    export ROS_MASTER_URI=http://youbot-brsu-2-pc1:11311

Done! Now in this terminal in which you executed the command the nodes will communicate with the roscore that is running in another computer.

Remotely shut down the robot's computer: (requires sudo permission)

Credit: Oscar Lima

This assumes you have already ssh'd in the robot's PC

    sudo shutdown -h now