Let's start establishing connection to the robot. Our goal is to get answers from Spot to our ping signals. We use Yggdrasil Network to expose Spot to the internet, that means we will need to configure Yggdrasil Network support on your computer first.
1. Yggdrasil Installation
Yggdrasil is an early-stage implementation of a fully end-to-end encrypted IPv6 network. Before startitng the lessons you need to install it on your computer.
For Linux:
Installation instructions here.
For MacOS:
Download .pkg file from here.
Locate the downloaded file in Finder. Right-click it and click Open. Step through the installer as usual.
For Windows:
Download .msi file for x64 system or for x32 system and run it with double click.
2. Open configuration file
You need to add a list of peers (public nodes) to configuration file so that you will be able to connect to Spot.
For MacOS and Linux:
For that, edit the yggdrasil.conf
file with this command in a terminal:
sudo nano /etc/yggdrasil.conf
For Windows:
Run updateconfig.bat
in C:/Program Files/Yggdrasil
.
Then in C:/ProgramData/Yggdrasil
open yggdrasil.conf
with any text editor.
ProgramData
is a hidden folder, so you need to show hidden data.
3. Write peers
In the file that you opened find line Peers:
(it is at the beginning of the file) add 5-6 peers geografically near to you (write them inside the brackets). You can find list of available peers here or add peers from example below. Example in yggdrasil.conf:
Peers:
[
tcp://213.188.199.150:10010
tcp://213.188.210.9:10010
tcp://[2a09:8280:1::3:312]:10010
tcp://[2a09:8280:1::a:2e2]:10010
tcp://46.151.26.194:60575
tcp://ygg-ru.cofob.ru:18000
tcp://ygg.tomasgl.ru:61933
tls://185.22.60.71:8443
tcp://51.15.118.10:62486
tls://ygg.loskiq.dev:17314
tls://longseason.1200bps.xyz:13122
]
Check if the peers online in Puplic Peers.
4. Save and close configuration file
For Linux and MacOS:
Press Ctrl+x
, then press y
to save changes and press Enter
.
For Windows:
Save and close file.
5. Restart service
For Linux:
Then restart Yggdrasil using this command:
systemctl restart yggdrasil
For macOS:
Unload the service and run Yggdrasil with changed config file:
sudo launchctl unload /Library/LaunchDaemons/yggdrasil.plist
sudo yggdrasil -useconffile /etc/yggdrasil.conf
You will need to do that before every lesson.
For Windows:
Press win + r and type services.msc
, find Yggdrasil service, open it and restart (press Stop and Start).
6. Check Connection
Check if Yggdrasil works well.
For that try to ping Spot address:
ping strelka.ygg.khassanov.xyz
To open terminal in Windows press
Win+R
, typecmd
and pressEnter
.On MacOS use
ping6
instead ofping
.
If you can't ping Spot or you had any errors during the Yggdrasil setup look in Troubleshooting page. If you can't find the solution there, please email spot@robonomics.network.
7. Create ssh key
You will connect to Spot via ssh, so you need to create ssh keys which you will use in booking lessons.
Run following command in the terminal:
ssh-keygen -t rsa
SSH Client is available by default only in Windows 10, so if you use older versions you need to install it. For example you can use PuTTY.
Remember the path to your key (by default it is /home/<user>/.ssh/id_rsa.pub
or C:\Users\<user>\.ssh\id_rsa.pub
).