Intel NUC 11 Overview

todo: add nuc version and other relevant hardware specs

Getting Started with NUC

ssh into NUC from Laptop in RAL

1. connect laptop to RAL_wifi
2. ssh cdcl@192.168.79.245
   • note NUC does not have a static IP on the RAL_wifi network, so this IP may have changed since the time of writing this
   • if you get "received disconnect from 192.168.79.245 port 22:2: Too many authentication failures", then run eval $(ssh-agent -s), then try running the ssh command again

Docker Image

• we have dockerfiles defining cdcl:humble-jammy-spot, but that required a little bit of modification into order to actually work properly. we have committed those modifications and created a new docker image that has all of those changes, called cdcl:humble-jammy-spot-updated.

Docker Container Usage

• There is a singular docker container to be used for the rest of time when developing on this spot. it is called "cdcl_docker", its image is cdcl:humble-jammy-spot-updated.
  • it mounts a directory called /home/cdcl/spot/cdcl_ws (on NUC) into /home/cdcl/cdcl_ws (in container).
  • it does --net=host for debugging from a terminal
  • it also allows us to use tc

Development

• we will do development from out laptops
• we have to ssh (using the CLion or vscode remote shell utility) to make modifications to the source code living on the NUC.
• we can debug through rviz2 and command line
• all code is run inside docker

Starting up spot_ros2

• to start up and get "into" docker container

cd spot/cdcl_docker
./start.sh
./exec.sh

• to start the spot_ros2 topics

ros2 launch spot_driver spot_driver.launch.py config_file:=/home/cdcl/ros2_ws/src/spot_ros2/spot_driver/config/cdcl.yaml has_arm:=True spot_name:=spot1 launch_rviz:=False