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Getting Started

How to Connect​

Direct Connection​

Directly connect a keyboard and monitor to the ROBOTIS-OP3's main controller.

Remote Connection​

Connect to ROBOTIS-OP3 over the network.

Connection Type​

  • Wireless Network (WLAN)
    Connect to the ROBOTIS-OP3-Share network broadcast by the OP3 when powered on. After establishing a Wi-Fi connection, use one of the connection methods described in the next section to control the robot. (Default Network Password : 111111)

  • Wired Network (Ethernet)
    To use a wired connection, connect the ROBOTIS OP3 to the same Router as your remote PC so the OP3 can connect as a DHCP client.

How to Connect​

  • SSH

    1. Execute SSH client program (ex: PuTTY)
    2. Input the ROBOTIS-OP3’s IP address : 10.42.0.1
    3. Select SSH as a connection type and then initiate the connection.
    4. Input ROBOTIS-OP3’s user name (Default: robotis)
    5. Input ROBOTIS-OP3’s password (Default: 111111)

  • VNC

warning

CAUTION : The robot must be booted with a physical monitor connected for VNC connection to work.

  1. Execute VNC client program (ex: Ultra VNC Viewer)
  2. Input ROBOTIS-OP3’s IP address : 10.42.0.1
  3. Input ROBOTIS-OP3’s password : 111111
  4. Accessing the ROBOTIS-OP3 via remote desktop may result in slower performance.

How to stop the demo program​

Stop the demo program​

In order to terminate the demo program, enter the command below in a terminal window.

$ sudo systemctl stop op3_demo.service

Running the demo at startup​

This chapter explains how to set up the system to automatically run a demo at startup.

Automatically run the demo program at startup​

  1. Create a systemd service file
    Create a new systemd service file at /etc/systemd/system/op3_demo.service using a text editor:

    $ sudo nano /etc/systemd/system/op3_demo.service

    Copy and paste the following content into the file:

    [Unit]
    Description=Starts the op3_demo launch file
    After=network.target systemd-user-sessions.service

    [Service]
    Type=simple
    User=robotis
    Group=robotis
    WorkingDirectory=/home/robotis/robotis_ws
    ExecStartPre=/bin/sleep 3
    ExecStart=/bin/bash -ic 'ros2 launch op3_demo demo.launch.xml'
    Restart=always
    RestartSec=1
    KillMode=control-group
    LimitRTPRIO=99
    LimitNICE=-20

    [Install]
    WantedBy=multi-user.target

    Save and exit (Ctrl + X, then Y and Enter).

  2. Reload the systemd daemon
    After creating the service file, reload the systemd daemon to recognize the new service:

    $ sudo systemctl daemon-reload

  3. Enable the service at boot
    Enable the service so that it starts automatically when the system boots:

    $  sudo systemctl enable op3_demo

Disable automatic startup of the demo program​

  1. Disable the service
    This prevents the service from starting automatically at boot: 
    $ sudo systemctl disable op3_demo
  2. Stop the running service (if active)
    If the service is currently running, stop it with: 
    $ sudo systemctl stop op3_demo
  3. Remove the service file (optional)
    If you no longer need the service, you can delete the service file: 
    $ sudo rm /etc/systemd/system/op3_demo.service
    Then, reload the systemd daemon to apply the changes: 
    $ sudo systemctl daemon-reload

How to restart the demo program​

When to restart the demo​

  • When camera has lost its connection due to electrical or mechanical issues.
  • When the U2D2 has lost its connection due to electrical or mechanical issues.
  • When resetting connected DYNAMIXELs with the Reset button due to a DYNAMIXEL error.

How to restart the demo​

In order to restart the demo, execute the following command in a terminal window.
(password : 111111)

$ sudo systemctl restart op3_demo
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