Robot

WiFi connection #

On your first connection to a network, the simpliest is to connect your robot with an ethernet cable.

If you cannot do so:

Use the appropriate cable and connect your computer directly to Reachy 2’s computer. The cable has to be plugged in port (b) of Reachy 2’s hardware interface.

We use tiofor the serial connection. If you haven’t installed it yet on your computer: apt install tio

Then, in a terminal on your computer, get access to the robot with:

tio /dev/ttyUSB0

Note that the connection could be on another USB port. Check all ports with ls /dev/ttyUSB*

Manually connect the robot to a WiFi with:

nmcli device wifi connect <wifi.name> password <your.password>

For example, with the wifi POLLEN-WIFI, with password superstrongpassword:
nmcli device wifi connect POLLEN-WIFI password superstrongpassword

There are several ways to connect to your robot.

SSH connection #

Using the robot’s IP address (check Find Reachy 2’s IP if you don’t know it), you can directly connect via ssh to Reachy 2’s computer:

ssh bedrock@<Reachy.2.IP.address>

For example, with robot’s IP being 192.168.1.42:

ssh bedrock@192.168.1.42

Avahi connection #

Find the serial number of your robot on its back, connect your computer on the same network as your robot, open a terminal and type:

ping <robot.serial.number>.local

For example, if the serial number is reachy2-beta1:

ping reachy2-beta1.local

Hard-wired connection #

Use the appropriate cable and connect your computer directly to Reachy 2’s computer. The cable has to be plugged in port (b) of Reachy 2’s hardware interface.

We use tiofor the serial connection. If you haven’t installed it yet on your computer: apt install tio

Once connected, open a terminal on your computer and run:

tio /dev/ttyUSB0

Note that depending on the elements you connected to the robot, the port could be something else than ttyUSB0. Check other available serial ports with ls /dev/ttyUSB*

You are then connected to Reachy 2 computer!

Sound volume #

If you want to change the volume, especially for the starting sound of your robot or the output sound when you teleoperate, you need to go on a terminal when the webRTC service is running :

Run:

$ ssh bedrock@your_robot_ip #password : root
$ docker exec -it webrtc_streaming_playback_ros bash
$ alsamixer -c 1 

Then, you can set the volume as you wish.