diff --git a/source/conf.json b/source/conf.json index b880889..7363512 100644 --- a/source/conf.json +++ b/source/conf.json @@ -105,20 +105,41 @@ }, { "name": "定位循迹", - "items": [ - { - "name": "快速上手", - "uri": "version_two/location/guide/doc" - }, - { - "name": "了解定位系统", - "uri": "version_two/location/marvelmind/doc" - }, - { - "name": "Dashboard 说明", - "uri": "version_two/location/dashboard/doc" - } - ] + "items": [ + { + "name": "快速上手", + "uri": "version_two/location/guide/doc" + }, + { + "name": "了解定位系统", + "uri": "version_two/location/marvelmind/doc" + }, + { + "name": "Dashboard 说明", + "uri": "version_two/location/dashboard/doc" + } + ] + }, + { + "name": "远程连接", + "items": [ + { + "name": "连接说明", + "uri": "version_two/network/setting" + }, + { + "name": "内网连接", + "uri": "version_two/network/inner-connect" + }, + { + "name": "外网连接", + "uri": "version_two/network/outer-connect" + }, + { + "name": "远程控制-键盘插件", + "uri": "version_two/network/keyboard-plugin" + } + ] } ] }, diff 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b/source/version_two/network/imgs/slam.png new file mode 100644 index 0000000..7736fb7 Binary files /dev/null and b/source/version_two/network/imgs/slam.png differ diff --git a/source/version_two/network/imgs/企业微信截图_20200715112904.png b/source/version_two/network/imgs/企业微信截图_20200715112904.png new file mode 100644 index 0000000..242df9b Binary files /dev/null and b/source/version_two/network/imgs/企业微信截图_20200715112904.png differ diff --git a/source/version_two/network/inner-connect.md b/source/version_two/network/inner-connect.md new file mode 100644 index 0000000..47332d0 --- /dev/null +++ b/source/version_two/network/inner-connect.md @@ -0,0 +1,109 @@ +# 远程连接 + +## 局域网连接 + +步骤： + +1. 连接无线网络 +2. 获得车载电脑IP地址 +3. 连接设备 + +### 一、连接无线网络 + + 1. 将车载电脑与用户端主机连接至同一无线网络 + + 2. 在系统终端中执行 `ipconfig`（windows) 或 `ifconfig` (linux) 查看车载与本机 IP 是否在同一网段，例以 `192.168.18.XX` 开头，最末的`XX`为不同数值，这样确保两个主机在同一网络中。 + + +### 二、获得远程连接地址 + +根据远程操作界面的不同，可选择 远程桌面软件 或 远程命令访问/SSH 两种方式。 + +在车载电脑的terminal中执行 `ifconfig`，获取 IP 地址，假设获取到的IP为 `192.168.188.1` + +内网远程桌面访问地址： 192.168.188.1 端口：4000 + +内网 SSH 访问地址：192.168.188.1 端口:22 + +用户名：autolabor + +密码：autolabor + +推荐用户使用 `远程桌面`，有图形化界面操作更方便，还可直接与用户端主机传输文件。 + +### 三、连接设备 + +#### 远程桌面 + +远程桌面使用的是 NoMachine，这是一个多平台的远程桌面访问工具，图形化操作界面，支持 Windows/Mac/Linux，同一时间仅限 1 人连接（可理解为teamviewer）。 + +#### 下载NoMachine + +[Windows](http://download.autolabor.com.cn/software/nomachine_6.11.2_1.exe)/[OS X](http://download.autolabor.com.cn/software/nomachine_6.11.2_13.dmg)/[Ubuntu](http://download.autolabor.com.cn/software/nomachine_6.11.2_1_amd64.deb) + + +#### 安装 + +![](imgs/network-16.png) + +![](imgs/network-17.png) + +#### 启动 + +1. 打开 NoMachine 软件，会弹出引导页面，点击 `continue` + +![](imgs/network-18.png) + +2. NoMachine 会将同一局域网中所有设备列出，与机器人在同一网络时，可直接看到机器人设备，右键点击设置图标，选择 `Edit Connection` 按钮，确认IP地址是否正确。 + +![](imgs/network-19.png) + +![](imgs/network-20.png) + +3. 点击 `OK` `continue`，开始连接 + +![](imgs/network-21.png) + +4. 输入 用户名： autolabor 密码： autolabor + +![](imgs/network-22.png) + +5. 点击 `OK`，成功连接到机器人上。 + + 此时桌面上弹出了一个对话框，是远程桌面软件的设置窗口，左下角勾选之后会不再显示，点击 `OK` 关闭。 + + 注：如果连接的时候显示白屏，此时系统图形化界面加载中，请等待片刻。 + + ![](imgs/network-24.png) + +*** + + +#### SSH + +此处用 windows 下的 putty 介绍，SSH 的连接方式。 + +1. 打开 putty 软件，Host: `获取到的IP地址` Port: `22`，`open` 打开。 + +![](imgs/network-44.png) + +2. 选择 `是` + +![](imgs/network-45.png) + +3. 输入 用户名：autolabor 密码：autolabor，回车连接 + +![](imgs/network-46.png) + +4. 登录成功 + +![](imgs/network-47.png) + + + + + + + + + diff --git a/source/version_two/network/keyboard-plugin.md b/source/version_two/network/keyboard-plugin.md new file mode 100644 index 0000000..a602c71 --- /dev/null +++ b/source/version_two/network/keyboard-plugin.md @@ -0,0 +1,115 @@ +# 远程控制-键盘插件 + +使用远程连接到 AP1 上后，我们想要控制 AP1运动，发现键盘控制车不动。 + +在 OS 系统中程序默认识别的是插在车载电脑上的键盘外设，远程主机的键盘命令程序无法接收，键盘控制指令则无法执行。 + +为了解决远程连接控制的问题，我们需要安装一个键盘驱动包，获取远程主机键盘的指令，发送到车载主机上。 + + +## rviz_keyboard_plugin + + +### 描述： + +该功能包为Autolabor 机器人远程连接时，提供用户端主机键盘控制功能。 + +### 要求: + +必须基于 Autolabor OS 使用 + + +### 一、下载与编译 + + +#### 1. 下载程序包 + +进入 /home/autolabor/catkin_ws/src 目录，执行 + +``` +git clone https://github.com/autolaborcenter/rviz_keyboard_plugin.git +``` + +或访问 https://github.com/autolaborcenter/rviz_keyboard_plugin.git 下载源代码，放入 /home/autolabor/catkin_ws/src 目录中 + +给新加入的文件添加操作权限，在/home/autolabor/catkin_ws 目录下，右键打开终端，执行 + +`sudo chmod -R 777 /home/autolabor/catkin_ws/src/` + +输入密码 `autolabor`，回车 + +#### 2. 编译 + +还是在 /home/autolabor/catkin_ws 目录下，终端执行 + +`sudo rm -rf build/ devel/ logs/ .catkin_tools/` + +输入密码 `autolabor`，回车，然后执行 + +`catkin build` + + +### 二、安装 + +以**建图**为例，演示该插件的安装方法。 + +####　1. 远程连接 + +使用远程桌面工具，连接到车载电脑上。 + +#### 2. 点击【开始建图】 + +![](imgs/slam.png) + +程序启动，RVIZ打开。 + +![](imgs/create_map.png) + +#### 3. 加载插件 + +RViz 的左上角依次点击 Panels -> Add New Panel -> rviz_keyboard_twist -> KeyboardTwist + + + +
+ +*** + +**加载完毕：** + +![](imgs/intro4.png) + +*** + +**做完以上操作后 Ctrl + S 保存 RViz 配置，如忘记保存，则下次进来要重复操作。** + +### 三、使用 + + +#### 1. 激活键盘控制 + +鼠标勾选激活键盘控制 + +![](imgs/intro5.png) + + +#### 2. 键盘控制 + +使用键盘上下左右控制，此时车能够被远程控制。 + +#### 3. 取消键盘控制 + +键盘控制完成后，必须取消，否则键盘按键失灵无法使用。 + + +### 四、其他说明 + +1. 需要远程使用的应用都需要在 RViz 中单独添加该插件，单个RViz中添加的插件不会应用到全局程序。 +2. 使用该插件远程控制前，要求在本机确认机器人的键盘控制是正常的。 +3. 键盘控制使用完毕后，必须要取消键盘控制。 + + + + + + diff --git a/source/version_two/network/outer-connect.md b/source/version_two/network/outer-connect.md new file mode 100644 index 0000000..432224b --- /dev/null +++ b/source/version_two/network/outer-connect.md @@ -0,0 +1,157 @@ +# 远程连接 + +## 外网连接 + +步骤： + +1. 登录云服务设备管理端，获取机器人的远程连接地址 +2. 使用远程桌面软件 或 SSH ，进行远程连接 + +### 一、获取地址 + +使用外网远程连接，每次连接前都需要**重新获取**远程访问地址。使用情况包括： + +* 第一次进行远程连接 +* 机器人开机状态，用户端曾经连接过，但远程连接软件关闭或者连接断开 +* 机器人设备关机/重启/断开后，重新打开 + +#### 操作步骤： + +1. 使用微信扫描随车附上的 `云服务管理员-绑定二维码`，扫描后该微信用户与产品绑定成功。 **此二维码只能使用一次，绑定成功后失效，用户无法自行解绑，请谨慎操作**。 +2. 访问 `cloud.autolabor.com.cn`，使用微信扫码登录，进入云服务管理界面。 + + ![](imgs/network-1.png) + +3. 在设备管理中，可以看到该微信用户名下绑定的所有设备。 + + ![](imgs/network-3.png) + + ![](imgs/network-49.png) + +4. 左侧管理菜单中，有 `远程桌面` 与 `远程命令` 两个菜单栏，分别对应的是获取机器人 图形化界面 与 SSH 的远程连接地址 。 + + 推荐用户使用 `远程桌面`，有图形化界面操作更方便，还可直接与用户端主机传输文件。 + + **1. 获取远程桌面访问地址** + + 点击进入 `远程桌面`页面： + + ① 点击右上角的`刷新`按钮，刷新设备状态 + ② 选择对应的设备 + ③ 点击`启动` + + ![](imgs/network-11.png) + + 启动后得到远程桌面地址：cloud.autolabor.com.cn 端口：xxxxx + + 请记住该地址，之后在使用远程桌面连接时会用到。 + + ![](imgs/network-12.png) + + **2 获取远程命令访问地址** + + 点击进入 `远程命令`页面： + + ① 点击右上角的`刷新`按钮，刷新设备状态 + ② 选择对应的设备 + ③ 点击`启动` + + ![](imgs/network-5.png) + + 启动后得到远程命令地址： cloud.autolabor.com.cn 端口：xxxxx + + ![](imgs/network-6.png) + + 请记住该地址，之后使用 SSH 连接会用到。 + + +5. 得到远程访问地址，下一步进行设备连接。 + + +### 二、设备连接 + +#### 远程桌面 + +远程桌面使用的是 NoMachine，这是一个多平台的远程桌面访问工具，图形化操作界面，支持 Windows/Mac/Linux，同一时间仅限 1 人连接（可理解为teamviewer）。 + +#### 下载 + +[NoMachine](https://www.nomachine.com/download) + +#### 安装 + +![](imgs/network-16.png) + +![](imgs/network-17.png) + + +#### 启动 + +得到的外网访问远程桌面地址：cloud.autolabor.com.cn 端口:xxxxx + +1. 打开 NoMachine 软件，点击 `new` 新建连接 +![](imgs/network-36.png) + +注：如之前曾经连接过，列表中已有设备，则不必新增，右键设置修改地址 Host 与端口号 Port 即可。 + +2. 默认协议 Protocol 为 `NX` ，点击 `continue` +![](imgs/network-27.png) + +3. 填写 `Host` 与 `Port`，点击 `continue` +![](imgs/network-28.png) + +4. 按照默认配置，继续 `continue` +![](imgs/network-29.png) +![](imgs/network-30.png) + +5. 名称可自定义，点击 `Done` +![](imgs/network-31.png) + +6. 连接新建完成后，回到了设备列表页面，选择设备，点击 `connect` +![](imgs/network-41.png) + +7. 开始连接，点击 `yes` +![](imgs/network-42.png) + +8. 输入 用户名： autolabor 密码： autolabor +![](imgs/network-43.png) + +9. 点击 `OK`，成功连接到机器人上。 + + 此时桌面上弹出了一个对话框，是远程桌面软件的设置窗口，左下角勾选之后会不再显示，点击 `OK` 关闭。 + + 注：如果连接的时候显示白屏，此时系统图形化界面加载中，请等待片刻。 + ![](imgs/network-32.png) + + +*** + +#### SSH + +此处用 windows 下的 putty 介绍，SSH 的连接方式。 + +1. 打开 putty 软件，Host: `cloud.autolabor.com.cn` Port: `xxxxx`，`open` 打开。 + +![](imgs/network-8.png) + +2. 选择 `是` + +![](imgs/network-45.png) + +3. 输入 用户名：autolabor 密码：autolabor，回车连接 + +![](imgs/network-9.png) + +4. 登录成功 + +![](imgs/network-10.png) + + + + + + + + + + diff --git a/source/version_two/network/qa.md b/source/version_two/network/qa.md new file mode 100644 index 0000000..0e9158a --- /dev/null +++ b/source/version_two/network/qa.md @@ -0,0 +1,94 @@ +# 常见问题 + +## 目录 + +#### 远程桌面软件 NoMachine + +1. 如何调整分辨率与画质 +2. 如何远程传输文件 +3. 报错：`The connection with the sever was lost` +4. 报错：`Could not connect to the sever. Error is 108: Connection reset by peer` +5. 报错：`A connection timeout has occurred while trying to connect ‘cloud.autolabor.com.cn' on port 'XXXXX'. The issue could either by a networking problem.....` +6. 远程连接成功后，一直显示 `NIVIDIA`的图标，卡住了 + + +*** + +## 远程桌面软件 NoMachine + +1. 如何调整分辨率与画质 + +入口一： + +进入系统后，在引导对话框修改。 + +![](imgs/network-48.png) + + +入口二： + +关闭对话框后，鼠标滑到右上角，显示出 “翻页效果”，点击 “翻页”。 + +![](imgs/network-40.png) + +![](imgs/network-37.png) + +进入修改页，调整到最低，`Done` 生效。 + +![](imgs/network-39.png) + +2. 如何远程传输文件 + +![](imgs/network-53.png) + + +3. 报错：`The connection with the sever was lost` + +请检查，是否连接上机器人 Wifi 。 + +![](imgs/network-23.png) + + +4. 报错：`Could not connect to the sever. Error is 108: Connection reset by peer` + +远程连接服务已断开，可能原因是： + +* 远程端口关闭 +* 机器人主机重启 +* 机器人电源关闭 + +操作： + +* 内网：检查 Wifi 是否连接 +* 外网：重新获取远程连接地址与端口，如显示之前的端口未关闭，请关闭后重新开启 + +注：设备电源重启后远程连接自动断开，需重新请求远程地址 + +![](imgs/network-33.png) + + +5. 报错：`A connection timeout has occurred while trying to connect ‘cloud.autolabor.com.cn' on port 'XXXXX'. The issue could either by a networking problem.....` + +该端口无法连接，常见于： + +* 机器人主机重启 +* 机器人电源关闭 +* 重新启用了新端口 + +操作： + +重新获取远程连接地址与端口，如显示之前的端口未关闭，请关闭后重新开启。 +之后再用新端口尝试。 + + +![](imgs/network-50.png) + +6. 远程连接成功后，一直显示 `NIVIDIA`的图标，卡住了 + +![](imgs/network-51.png) + +远程桌面连接要求主机 HDMI 必须有连接，才能进行显示。 + +请检查机器人主控单元主机的虚拟HDMI设备（下图） 是否插紧，如发现没有插设备，请插上出厂时附带的虚拟HDMI设备。 + + \ No newline at end of file diff --git a/source/version_two/network/setting.md b/source/version_two/network/setting.md new file mode 100644 index 0000000..1747310 --- /dev/null +++ b/source/version_two/network/setting.md @@ -0,0 +1,48 @@ +# 远程连接 + + +## 连接说明 + +### 内网 + +要求： + +* 用户端主机必须有网卡 +* 用户端主机与机器人的距离不能超过无线局域网的有效范围，距离过远或遮挡都会影响连接 + +特点：局域网，适用于近距离控制，速度快。 + +### 外网 + +要求： + +* 用户已购买 Autolabor 4G/5G 云服务 +* 用户端主机必须能够上外网 +* 如机器人所在地无 4G/5G 信号覆盖，则无法进行远程连接 + +特点：广域网，适用于远距离控制，通信消耗流量，通信与操作与内网相比较慢。 + +*** + +## 选择相应的网络连接 + +

内网

+

外网

+ +日常近距使用建议选择内网连接 + +## 结构图 + +![](imgs/connect.png) + + + + + + + + + + + +