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Version: ROS 2 Humble

Clearpath Computer Setup

The clearpath_computer_setup package offers a terminal menu tool for configuring a robot computer. The main feature of this tool is the ability to generate netplan configurations. The clearpath_computer_setup package is available on the Clearpath package server.

It should be installed on the robot's computer:

sudo apt install python3-clearpath-computer-setup

To run the tool, call:

sudo clearpath-computer-setup

Standard Clearpath Bridge​

The default networking configuration for a robot's computer is to bridge all Ethernet interfaces and assign the computer the IP address 192.168.131.1. See Network IP Addresses for a detailed list of IP ranges.

To configure the default bridge:

  1. Run sudo clearpath-computer-setup
  2. Navigate to Netplan Setup -> Pre-set Configurations.
  3. Select Standard Clearpath Bridge and generate the configuration by following the instructions.
  4. Return to the Netplan Setup menu and select Apply Configuration Changes.

This will create a /etc/netplan/50-clearpath-standard.yaml file and apply the changes to netplan.

Once the network settings have been applied, call ip a to check that the network bridge has been created, and that the computer has been assigned the 192.168.131.1 IP address.

Custom Networking​

The clearpath-computer-setup tool can also be used to set up custom network interfaces.

  1. Navigate to the Netplan Setup menu and use the bridge, Ethernet, or Wi-Fi setup menus to add configurations.
  2. Once you are done configuring, return to the Netplan Setup menu and select Write Configuration YAML. You will be prompted for a file name. The file should be placed under /etc/netplan/ to take effect, and the naming convention is a two digit number followed by a unique name. For example, /etc/netplan/50-home-wifi.yaml.
note

Netplan will read files under /etc/netplan/ in alphanumeric order. Files beginning in 01 will be read first, and 99 will be read last. If two files define the same configuration, the configuration read last will be used. Otherwise, netplan will amalgamate all files under /etc/netplan/ to create the netplan configuration.

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