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A list of network connections will be displayed within the terminal. Locate the wireless network and make note of its IP

address. Now that you know Dingo's wireless IP address, you may now exit the ethernet SSH session by executing

exit

Remove the ethernet cable and close up Dingo. Now you can SSH into Dingo over the wireless network. To do so,

execute:

ssh administrator@ <IP_OF_DINGO >

SSH sessions allow you to control Dingo's internal computer. You can do various things such as download packages,

run updates, add/remove files, transfer files etc.

2.2 Remote ROS Connectivity

To use ROS desktop tools, you'll need your computer to be able to connect to Dingo's ROS master. This will allow you

to run ROS commands like

will reflect the activity on Dingo's ROS master, rather than on your own machine. This can be a tricky process, but we've

tried to make it as simple as possible.

In order for the ROS tools on your computer to talk to Dingo, they need to know two things:

• How to find the ROS master, which is set in the

• How processes on the other computer can find your computer, which is the

The suggested pattern is to create a file in your home directory called

export ROS_MASTER_URI=http://cpr‐dingo ‐0001:11311

export ROS_IP=10.25.0.102

If your network doesn't already resolve Dingo's hostname to its wireless IP address, you may need to add a correspond-

ing line to your computer's /etc/hosts file:

10.25.0.101 cpr‐dingo ‐0001

NOTE: You can verify the hostname and IP address of Dingo using the following commands during an SSH session

with the onboard PC.

hostname

hostname ‐i

Then, when you're ready to communicate remotely with Dingo, you can source that script like so, thus defining those

two key environment variables in the present context.

source remote‐dingo.sh

To verify that everything is set up propelry, try running a few ROS commands, such as the standard visual ROS tools:

roslaunch dingo_viz view_robot.launch

Rev. 1.1.0

rostopic list

rostopic echo

# Your laptop 's wireless IP address

, and others, from a remote PC and the output

rosnode list

environment variable, and

ROS_MASTER_URI

remote‐dingo.sh

# Dingo's hostname

environment variable.

ROS_IP

with the following contents:

Dingo