execution.md

Execution

• Remote connection
• Running everything

Remote connection

ssh spot@spot-nvidia.local

sudo apt-get install tigervnc-scraping-server
vncpasswd
x0vncserver -passwordfile ~/.vnc/passwd -display :0

sudo apt-get install tightvncserver
vncserver :1 -geometry 1024x768 -depth 24

[VNC] spot-nvidia.local:1

• xstartup file:

#!/bin/sh
unset SESSION_MANAGER
unset DBUS_SESSION_BUS_ADDRESS
startxfce4 &

[ -x /etc/vnc/xstartup ] && exec /etc/vnc/xstartup
[ -r $HOME/.Xresources ] && xrdb $HOME/.Xresources
xsetroot -solid grey
vncconfig -iconic &

• TODO: Automatically execute server https://forums.developer.nvidia.com/t/ubuntu-internal-error-when-selecting-desktop-sharing-in-settings/72163/3
• TODO: Create dummy screen https://askubuntu.com/a/463000

Running everything

# Software bringup
roslaunch spotmicro_config bringup.launch

# Joystick teleop
roslaunch champ_teleop teleop.launch