WiFi connection#

Use the appropriate cable and connect your computer directly to Reachy 2’s computer. The cable has to be plugged in the console port of Reachy 2’s hardware interface.

We use tiofor the serial connection. If you haven’t installed it yet on your computer: apt install tio

Then, in a terminal on your computer, get access to the robot with:

tio /dev/ttyUSB0

and press Enter.

Note that the connection could be on another USB port. Check all ports with ls /dev/ttyUSB*

Manually connect the robot to a WiFi with:

nmcli device wifi connect <wifi.name> password <your.password>

For example, with the wifi POLLEN-WIFI, with password superstrongpassword:
nmcli device wifi connect POLLEN-WIFI password superstrongpassword

There are several ways to connect to your robot.

SSH connection#

Using the robot’s name or its IP address (check this section if you don’t know how to find it), you can directly connect via ssh to Reachy 2’s computer:

ssh bedrock@<Reachy.2.IP.address>
# the same as : 
ssh bedrock@<Reachy.2.name>.local

For example, with robot’s IP being 192.168.1.42 and name being r2-0000:

ssh bedrock@192.168.1.42
# the same as : 
ssh bedrock@r2-0000.local

Avahi connection#

Find the serial number of your robot on its back, connect your computer on the same network as your robot, open a terminal and type:

ping bedrock@<robot.serial.number>.local

For example, if the serial number is r2-0000:

ping bedrock@r2-0000.local

Hard-wired connection#

Use the appropriate cable and connect your computer directly to Reachy 2’s computer. The cable has to be plugged in the console port of Reachy 2’s hardware interface.

We use tiofor the serial connection. If you haven’t installed it yet on your computer: apt install tio

Once connected, open a terminal on your computer and run:

tio /dev/ttyUSB0

Note that depending on the elements you connected to the robot, the port could be something else than ttyUSB0. Check other available serial ports with ls /dev/ttyUSB*

You are then connected to Reachy 2 computer!

You can log in directly through your terminal, using ssh :

ssh bedrock@<robot.ip.address>
# or use your robot name, written on the back of its neck :
ssh bedrock@<robot.name>.local

password : root

then, manually connect the robot to a WiFi with:

nmcli device wifi connect <wifi.name> password <your.password>

For example, with the wifi POLLEN-WIFI, with password superstrongpassword:
nmcli device wifi connect POLLEN-WIFI password superstrongpassword

Then restart the reachy2-core service.

Teleop camera#

The camera is managed by the reachy2-core service if you’re using the SDK Client and by the webrtc if you’re using the teleoperation app.

1. Try to restart the reachy2-core service or the webrtc, according to the application you’re using.
2. If it’s still not working, try to unplug/plug the first USB cable (port n°1)
3. Try to restart the robot completely.

Depth camera (torso)#

The camera is managed by the reachy2-core service.

1. Try to restart the reachy2-core service.
2. If it’s still not working, try to restart the robot completely.

Sound volume#

If you want to change the volume, especially for the starting sound of your robot or the output sound when you teleoperate, you can go directly in the Dashboard, in the Media section and adjust the input and output rates.

If that doesn’t work, you can go on a terminal when the webRTC service is running:

Run:

$ ssh bedrock@your_robot_ip #password : root
$ docker exec -it webrtc_streaming_playback_ros bash
$ alsamixer -c 1 

Then, you can set the volume as you wish.

• the reachy2-core service logs in the dashboard, under Services.
• that no red LEDs have appeared on any of the joint motors.
• that the emergency stop button is not pressed.

You can press the emergency stop button and return all joints to a neutral position, such as:

Then unpress it and let it calibrate again.

If it’s still not working, try to shut down your robot (meaning the emergency button + the bedrock button + the mobile base button) and switch it back on again.