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.
Installation instructions here.
Download .pkg file from here.
Locate the downloaded file in Finder. Right-click it and click Open. Step through the installer as usual.
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
yggdrasil.conf with any text editor.
ProgramDatais 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://188.8.131.52:10010 tcp://184.108.40.206:10010 tcp://[2a09:8280:1::3:312]:10010 tcp://[2a09:8280:1::a:2e2]:10010 tcp://220.127.116.11:60575 tcp://ygg-ru.cofob.ru:18000 tcp://ygg.tomasgl.ru:61933 tls://18.104.22.168:8443 tcp://22.214.171.124:62486 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:
Ctrl+x, then press
y to save changes and press
Save and close file.
5. Restart service
Then restart Yggdrasil using this command:
systemctl restart yggdrasil
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.
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:
To open terminal in Windows press
On MacOS use
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 firstname.lastname@example.org.
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