League Robotics Docs

Connecting to the Robot Garage Fleet

Hosts, SSH access, ROS settings, cameras and rosbridge — everything needed to connect, no portal required.

View source on GitHub →

Connecting to the Robot Garage Fleet

Everything on this page assumes you are on the garage LAN (WiFi: Busboom Mesh — required for ROS discovery, not just connectivity).

The fleet

Host IP What it is
baldur 192.168.1.152 (wired: 192.168.2.152) X-drive robot — REV hub, on-board teleop, 8BitDo pad
nepr 192.168.1.146 Second X-drive robot (parked, uncalibrated)
skadi 192.168.1.142 (wired: 192.168.2.142) Camera server — IMX296 global-shutter (mono)
vidar 192.168.1.144 Camera server — Pi 5, dual CSI
ali 192.168.1.143 Utility Pi — rosbridge, cameras
agony 192.168.1.11 Server — rosbridge gateway
torture 192.168.1.12 Server — rosbridge gateway
gauti 192.168.1.145 Utility Pi (serial-port workbench)
vali 192.168.1.151 Utility Pi
docker-host1 192.168.1.30 Containerised ROS

baldur and skadi are also wired to each other; between wired hosts, traffic (including ROS image streams) automatically takes the ethernet path.

SSH — one shared account, no key setup

Every fleet node has the managed ros account:

ssh ros@<host>          # e.g. ssh ros@baldur or ssh ros@192.168.1.152
# password: robotics

You get a zsh shell with the ROS environment and the fleet’s colcon overlay already sourced, and passwordless sudo. (Lab-network convenience by design — this is not a secret, and the fleet is not reachable from outside the LAN.)

Prefer key auth? Drop your public key in the repo’s ros_user_authorized_keys list (roles/ros_user/defaults/main.yml) and re-run ansible-playbook playbooks/ros_user.yml.

ROS — the two things everyone forgets

export ROS_DOMAIN_ID=42                    # the fleet domain; without it you see NOTHING
source /opt/ros/kilted/setup.bash          # (pre-sourced if you log in as ros)
ros2 topic list

WiFi machines must be on Busboom Mesh — DDS multicast discovery does not cross SSIDs.

No ROS installed? Use rosbridge

JSON over WebSocket, no auth, from Python (pip install roslibpy) or a browser:

  • ws://agony:9090 · ws://torture:9090 · ws://ali:9090

See Using the rosbridge Gateway for working snippets.

Watch the cameras (any browser)

http://skadi:8080/stream_viewer?topic=/skadi/camera0/camera/image_color
http://vidar:8080/stream_viewer?topic=/vidar/camera0/camera/image_color
http://ali:8080/stream_viewer?topic=/ali/camera0/camera/image_raw

The topic differs per host on purpose: sensors whose colors arrive mislabeled (IMX296) get a swap-corrected image_color stream — view that one. Sensors that arrive correct (IMX219, IMX708) are viewed on image_raw directly.

History

Connection info used to be served by a small portal on 192.168.1.40:8770 (fleet-portal/ in the repo). That server is retired — this page replaces it.