README.md

iCub-head-cam (Xavier NX) network configuration

eth0: (connected to icub-head)

IP: 10.0.0.3/24
gateway: 10.0.0.1
DNS: 10.0.0.1

enP5p1s0: (only for troubleshoot)

IP: 10.10.10.10/24
no gateway
no DNS

How to remove the bridge and use wireless adapter on Xavier NX

First you need to connect to the robot via ethernet setting an IP on the network 10.10.10.0/24 (e.g.: 10.10.10.5/24), now you should be able to reach the Xavier NX on 10.10.10.10/24. And of course have plugged the Wireless adapter in the Xavier. Otherwise if you have the possibility to have a monitor and an usb keyboard connected to the icub-head you can direcetly perform the operations. The same thing is valid if the icub-head is connected to the wifi and it is reachable.

connect to Xavier and jump on icub-head:

ssh icub@10.10.10.10
ssh icub@10.0.0.2

Once on the icub-head you need to modify the netplan configuration by replacing the symlink 50-icub.yaml with the desired configuration:

cd /etc/netplan
ls -la at this point you should see the symlink 50-icub.yaml pointing to the bridge configuration 50-icub-head-bridge.yaml.notload replace the symlink with the desired configuration:

e.g: sudo ln -sf 50-icub-head-static.yaml.notload 50-icub.yaml
check the configuration, rember to verify SSID and password of the wifi and set the correct ones

cat 50-icub.yaml

 ethernets:
   enp4s0:
     dhcp4: no
     dhcp6: no
     addresses: [10.0.2.2/24]
     optional: true
   enp5s0:
     dhcp4: no
     dhcp6: no
     addresses: [10.0.1.104/24]
     optional: true
 wifis:
   wlp3s0:
     dhcp4: yes
     dhcp6: no
     addresses: [10.0.0.2/24]
     access-points:
           "iCub3_000-Wifi":
             password: "iCubWifi"
     optional: true

now verify if the configuration is correct and it doesn't have errors

sudo netplan generate

if the output it is clear you can go on.

Disable the scripts for bridge and ping

sudo systemctl disable bridge.service

sudo systemctl disable ping-everyone.service

return on Xavier, you'll reboot everything later for the configuration to take effect.

crtl+D or exit

disable the ping-everyone.service also on the Xavier:

sudo systemctl disable ping-everyone.service

check the name of the wireless interface with ip a

enter in the Network Manager UI and start configuring the wifi and the wired connection

sudo nmtui

select edit a connection using arrows and spacebar

\

select addand then wifi\

fill the field as in the pictures, rememner to put the right interface name in device\

set the IP configuration to manual and the address to 10.0.0.3/24 like in the picture

Scroll down to OK and then exit.

Use the same procedure to edit the Wired Connection 1 and set the IP address of the eth0 of the Xavier to 10.0.2.3.

Now you can reboot the whole robot and then you should reach 10.0.0.2 and 10.0.0.3 through the Wifi connection.