User Computers

This subpage contains additional descriptions and manuals about Panther's User Computers not included in Panther options.

PC02 - Intel NUC

Overview

The Panther platform can be configured with the option PC02. The Intel NUC User Computer is mounted in a dedicated place on User Shelf inside Panther. The instructions below will guide you on how to mount and set it up within your robot.

Mounting in Panther

1. Turn off the Panther.
2. Open the Cover following instruction, then you can access the inside of the User Space.
3. To remove the User Shelf loosen 6 x DIN 912 M5x12 screws and disconnect cables connected between the router and Panther.

4. Mount PC02 using supplied screws (M3x8) to User Shelf.

5. Place the User Shelf in the Panther and tighten 6 x DIN 912 M5x12 screws.

6. Plug the supplied Ethernet cable into the PC02 and Teltonika RUTX11 router.
7. Plug-in supplied power cable:
   • DC5.5 mm to PC02
   • XT60 to 19 V connector in User Power Panel.
8. Close the Cover following instruction.

Applying DHCP Static Lease

1. Turn on the Panther.

2. Wait until Panther fully boots up and connects to its Wi-Fi network.

3. Go to the router config page and log in with the username admin and password Husarion1.

4. Make sure that Mode advanced is enabled. Check it in the top right corner. If Mode Basic is shown, click on it to change it.

   

5. Go to Network --> Interfaces and click edit on Lan Network

   

6. Edit Static lease named nuc. Next, type in the MAC address (supplied during purchase) and click Save and apply. If you do not know the MAC address, you can find it under Status --> Network --> LAN page. By default, the User Computer inside Panther has IP 10.15.20.3, but it can be changed to any value in the range between 10.15.20.3 to 10.15.20.254.

7. You can access the User Computer through its new IP (default: 10.15.20.3). If it is not available, turn off and back on the Panther.

Configuring Soft Shutdown

Following these steps will allow the Build-in Computer to request the shutdown procedure on the User Computer or any computer you install.

If you are setting up your User Computer with the default 10.15.20.2 IP address and username husarion select the Default configuration tab. In case the IP address or username differs from the defaults, select Custom configuration tab.

Default configuration

The default configuration assumes the system was installed following the steps in User Computer system reinstallation.

1. SSH into User Computer ssh husarion@10.15.20.2.
2. Exchange SSH public keys between the Built-in Computer and the User Computer with ssh-copy-id husarion@10.15.20.3.

By default, the ROS driver on the Built-in Computer will try shutting down the User Computer at 10.15.20.3 IP address with the username husarion and the command sudo shutdown. That is why no other changes are required for it to work in the default configuration.

Custom configuration

1. SSH into the User Computer ssh username@10.15.20.XX where XX is the IP address in step Applying DHCP Static Lease, and username is the name of the user you want to log in to.
2. Allow your computer to be shut down without the need for sudo password by running:

CHANGE THE USERNAME

Change the username in the command below to the one from step 1.

husarion@10.15.20.2:~$

echo username 'ALL=(ALL) NOPASSWD: /sbin/poweroff, /sbin/reboot, /sbin/shutdown' | sudo EDITOR='tee -a' visudo

3. Exit the terminal session with the User Computer by typing exit and ssh into the Built-in Computer with ssh husarion@10.15.20.2.
4. Exchange SSH public keys between the Built-in Computer and the User Computer with ssh-copy-id username@10.15.20.XX. The username and IP address have to be the same as in step 1.
5. Create the shutdown_hosts.yaml file on the Built-in Computer with the command nano shutdown_hosts.yaml.
6. Paste the following content into the file:

hosts:
  - ip: 10.15.20.XX
    username: username

7. Edit the IP address and username in shutdown_hosts.yaml to match those from step 1.
8. Save the file by pressing Ctrl+s, Ctrl+x and confirm saving with y.
9. Edit the Docker compose file with nano compose.yaml.
10. In the volumes section of the panther_ros Docker container add:

volumes:
    # other volumes
    - ./shutdown_hosts.yaml:/shutdown_hosts.yaml

11. In the command section of the panther_ros Docker container add:

command: >
    roslaunch --wait
    panther_bringup bringup.launch
    exit_on_wrong_hw:=false
    shutdown_hosts_config_file:=/shutdown_hosts.yaml

12. Save the file by pressing Ctrl+s, Ctrl+x and confirm saving with y.
13. Restart Docker containers docker compose up -d --force-recreate.

After following those steps, when pressing the Power Button sudo shutdown will be invoked on the User Computer. The Built-in Computer will wait for the User Computer until it gracefully shuts down before shutting down itself and powering off the robot.

ADVANCED CONFIGURATION

The Built-in Computer's ROS driver is capable of shutting down not only one User Computer but as many as you want. It is also capable of running custom shutdown commands and much more. Refer to the panther_manager ROS package documentation to see how to edit shutdown_hosts.yaml to reflect your needs.