Network connections
As mentioned in the section on first connecting there are three different ways in which you can exchange messages with the robot. As illustrated below, you have the option to connect your own companion PC with the robot using its TCP-IP connector, or you connect your computer to the robot via the WiFi access point of the robot, or you connect your computer to the robot via the available network to which both you and the robot are connected.
The most important aspect of which option you choose is the IP-address you should be using to setup the network connection and start message passing. With this <address> you may then continue to setup the network connection between your (companion) PC and the robot. You will have two options to, either setup a connection for your ROS2 environment, or setup a connection for importing the Avular SDK into your program.
Connection address
To be able to use the robot you need to check if the robot is reachable. You can do this by pinging the robot. You can do this by using the following command:
ping <address>
The address can be one of the following depending on how you are connected to the robot:
| Connection type | Address |
|---|---|
| All | <hostname>.local, by default origin-<serial>.local. This method may not work reliably on all networks. |
| Wi-Fi access point | 192.168.192.1 |
| Ethernet port | 192.168.100.11 |
| Wi-Fi client mode | The IP address may be found on the display of the robot, alternatively ask your IT admin. |
Once you have been able to verify the Origin is reachable, you can start connecting to it.
Connect over SSH
We recommend connecting to the device with the following command:
ssh -A avular@<address>
The username for the device is avular. The initial password is avular. We strongly recommend changing the password after logging in for the first time.
The -A argument enables SSH-key forwarding, which means you will be able to access your private repositories, without storing any SSH keys on the Origin itself (for a more detailed explanation, click here)