Turtlebot3 Waffle Nuc X11 Remote Display 20240825
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Reference
Log
On Sisters
wayland eepp@sisters:~$ sudo emacs /etc/gdm3/custom.conf & [1] 3319 eepp@sisters:~$ cd /etc/gdm3 [1]+ Stopped sudo emacs /etc/gdm3/custom.conf (wd: ~) (wd now: /etc/gdm3) eepp@sisters:/etc/gdm3$ cp custom.conf custom.conf.org cp: cannot create regular file 'custom.conf.org': Permission denied eepp@sisters:/etc/gdm3$ sudo cp custom.conf custom.conf.org [sudo] password for eepp: eepp@sisters:/etc/gdm3$ sudo emacs /etc/gdm3/custom.conf & [2] 3440 eepp@sisters:/etc/gdm3$ diff custom.conf.org custom.conf 7c7 < #WaylandEnable=false --- > WaylandEnable=false [2]- Done sudo emacs /etc/gdm3/custom.conf
On Adams
eepp@sisters:~$ ssh -X eepp@10.0.0.222 eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com eepp@adams:ssh$ pwd /etc/ssh eepp@adams:ssh$ ls moduli sshd_config ssh_host_ed25519_key.pub '#ssh_config#' sshd_config.d ssh_host_rsa_key ssh_config ssh_host_ecdsa_key ssh_host_rsa_key.pub ssh_config.d ssh_host_ecdsa_key.pub ssh_import_id ssh_config.org ssh_host_ed25519_key eepp@adams:ssh$ sudo cp sshd_config sshd_config.org eepp@adams:ssh$ sudo emacs sshd_config X11 connection rejected because of wrong authentication. Display localhost:10.0 unavailable, simulating -nw eepp@adams:ssh$ eepp@adams:ssh$ eepp@adams:ssh$ eepp@adams:ssh$ eepp@adams:ssh$ eepp@adams:ssh$ diff sshd_config.org sshd_config 91,92c91,92 < #X11DisplayOffset 10 < #X11UseLocalhost yes --- > X11DisplayOffset 10 > X11UseLocalhost no eepp@adams:ssh$ eepp@adams:ssh$ eepp@adams:ssh$ sudo systemctl restart sshd
Test
epp@sisters:~$ DISPLAY=:1 ssh -X n5 ssh: Could not resolve hostname n5: Temporary failure in name resolution
failed
try
eepp@sisters:~$ DISPLAY=:1 ssh -X n5 ssh: Could not resolve hostname n5: Temporary failure in name resolution eepp@sisters:~$ DISPLAY=:1 ssh -X 10.0.0.222 eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro Expanded Security Maintenance for Applications is not enabled. = Test with ROS 2 = '''TERMINAL 2''' <pre> 12 updates can be applied immediately. 5 of these updates are standard security updates. To see these additional updates run: apt list --upgradable 35 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Mon Aug 26 10:27:39 2024 from 10.0.0.159 -bash: //: Is a directory -bash: //: Is a directory eepp@adams:~$
Test with ROS2
TERMINAL 1
eepp@sisters:~$ eepp@adams:~$ eepp@adams:~$ echo $DISPLAY adams:10.0 eepp@adams:~$ ^C eepp@sisters:~$ echo $DISPLAY :1 eepp@sisters:~$ ssh -X eepp@10.0.0.222 eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro Expanded Security Maintenance for Applications is not enabled. 12 updates can be applied immediately. 5 of these updates are standard security updates. To see these additional updates run: apt list --upgradable 35 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Mon Aug 26 10:35:25 2024 from 10.0.0.159 -bash: //: Is a directory -bash: //: Is a directory eepp@adams:~$ source scripts/bringup.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-26-10-41-33-636237-adams-1752 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [1753] [INFO] [hlds_laser_publisher-2]: process started with pid [1755] [INFO] [turtlebot3_ros-3]: process started with pid [1757] [hlds_laser_publisher-2] [INFO] [1724694093.756359565] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1724694093.756429487] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1724694093.756651767] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1724694093.756769600] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [1724694093.757319386] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1724694093.759134176] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [robot_state_publisher-1] [INFO] [1724694093.761881308] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1724694093.761945513] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1724694093.761951461] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1724694093.761955013] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-1] [INFO] [1724694093.761958534] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-1] [INFO] [1724694093.761962088] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1724694093.761965448] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-1] [INFO] [1724694093.761968712] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-1] [INFO] [1724694093.761972161] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-1
TERMINAL 2
epp@sisters:~$ DISPLAY=:1 ssh -X n5 ssh: Could not resolve hostname n5: Temporary failure in name resolution eepp@sisters:~$ DISPLAY=:1 ssh -X 10.0.0.222 eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro Expanded Security Maintenance for Applications is not enabled. 12 updates can be applied immediately. 5 of these updates are standard security updates. To see these additional updates run: apt list --upgradable 35 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Mon Aug 26 10:27:39 2024 from 10.0.0.159 -bash: //: Is a directory -bash: //: Is a directory eepp@adams:~$ eepp@adams:~$ echo $DISPLAY adams:10.0 eepp@adams:~$ source scripts/make_map.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-26-10-42-09-591478-adams-1792 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [cartographer_node-1]: process started with pid [1793] [INFO] [cartographer_occupancy_grid_node-2]: process started with pid [1795] [INFO] [rviz2-3]: process started with pid [1797] [cartographer_node-1] [INFO] [1724694129.690080739] [cartographer logger]: I0826 10:42:09.000000 1793 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] [INFO] [1724694129.690552446] [cartographer logger]: I0826 10:42:09.000000 1793 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1724694129.690688816] [cartographer logger]: I0826 10:42:09.000000 1793 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1724694129.690823627] [cartographer logger]: I0826 10:42:09.000000 1793 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' fo
e2go
TBD Test this out
