Working on a remote machine
Introduction
When working on a server host, it is generally cumbersome to remotely calibrate LiDARs. Seoul Robotics can provide trial licenses to calibrate the LiDARs on a local machine and update the project file on the in the host machine once the calibration is complete.
This section describes the workflow to achieve that.
Procedure
Prepare Remote Host
- Add LiDAR topics and start the Algo node to ensure proper functioning of all LiDARs on the remote host.
Transfer Data to Local Machine
- Record a rosbag of approximately one minute.
- Transfer the rosbag and project file to the local machine where the calibration will be performed.
Request Trial License
- Send a request for a trial license to license@seoulrobotics.org. Specify the number of algo nodes, LiDARs, and the models of LiDARs to be used.
Deployment on Local Machine
- Deploy SENSR, the license, the project file, and rosbag on the local machine.
Update Algo Node IP Addresses
- Change the IP addresses of the Algo nodes to match the local machine's IP address.
Calibrate Site
- Perform calibration using the recorded rosbag and save the updated project file.
Transfer Project File
- Transfer the updated project file back to the remote host.
Updating IP Addresses in Project File
After transferring the project file back to the remote host, ensure that the IP addresses in the project file match the remote host's IP addresses. This step can be completed using SENSR GUI, but depending on the remote access quality, it might take some time. Alternatively, SENSR's APIs can be utilized for a quicker update:
- Update Algo Node IP Address
curl -X POST 'http://localhost:9080/[SENSR version]/settings/node' --data '{"uid":"algo_0000","ip":"172.17.0.2"}' - Apply Changes
curl -X POST 'http://localhost:9080/[SENSR version]/commands/apply-change' - Repeat the actions for each algo node and switch to runtime
curl -X POST 'http://localhost:9080/[SENSR version]/commands/start?mode=runtime'