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Getting Started

How to Connect

Direct Connection

Keyboard and monitor are directly connected to ROBOTIS-OP3.

Remote Connection

Connect to ROBOTIS-OP3 over the network.

Connection Type

  • Via Wireless(WLAN)
    IP address will be automatically assigned when connecting to ROBOTIS-OP3-Share.
    After establishing Wi-Fi connection, use one of the connection methods described in the next section. (password : 111111)

  • Via Wired(Ethernet)
    When using wired connection, connect ROBOTIS OP3 to the same Router with PC so that OP3 can be connected as a DHCP client.

How to connect

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

  • VNC

    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 ROBOTIS-OP3 via remote desktop may result in slower performance.

How to stop the demo program

Stop the demo program

In order to terminate automatically executed demo program, enter below command in the 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 the 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 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 issue.
  • When USB2DYNAMIXEL has lost its connection due to electrical or mechanical issue.
  • When resetting DYNAMIXEL with Reset button due to DYNAMIXEL error.

How to restart the demo

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

$ sudo systemctl restart op3_demo

Getting Started - (~ 2023)

How to Connect

Direct Connection

Keyboard and monitor are directly connected to ROBOTIS-OP3.

Remote Connection

Connect to ROBOTIS-OP3 over the network.

Connection Type

  • Via Wireless(WLAN)
    IP address will be automatically assigned when connecting to ROBOTIS-OP3-Share.
    After establishing Wi-Fi connection, use one of the connection methods described in the next section. (password : 111111)

  • Via Wired(Ethernet)
    When using wired connection, connect ROBOTIS OP3 to the same Router with PC so that OP3 can be connected as a DHCP client.

How to connect

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

  • VNC
    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 ROBOTIS-OP3 via remote desktop may result in slower performance.

How to kill the demo program

Kill demo program

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

$ sudo service OP3-demo stop

Running demo on startup

This chapter describes settings for automatically executing demo on startup.
Autorun feature requires robot_upstart package from ROS.

Reference : robot_upstart

Start demo program on start

  1. Make a script for auto-run Open a new terminal window and execute below commands.
    (password : 111111) 
    $ rosrun robot_upstart install --job JOB_NAME --user root --master http://10.42.0.1 op3_demo/launch/demo.launch
    • JOB_NAME : This item specifies job name to autorun. The job name will be registered on the service.
      ex : OP3-demo 
       rosrun robot_upstart install --job OP3-demo --user root --master http://10.42.0.1:11311 op3_demo/launch/demo.launch
    • NOTE : Autorun program will be generated based on op3_demo/launch/demo.launch.
  2. Modify the script
    • open service file and modify the contents 
       $ sudo xed /usr/sbin/OP3-demo-start
    • from : export ROS_HOSTNAME=$(hostname)
    • to : export ROS_HOSTNAME=10.42.0.1
  3. Run the service 
    $  sudo systemctl daemon-reload && sudo systemctl start JOB_NAME
    • daemontools Installation : If daemontools is not installed on the system, execute below command. 
      $ sudo apt install daemontools

Stop demo program on start

Open a new terminal window and execute following commands.

$ rosrun robot_upstart uninstall JOB_NAME

How to restart the demo program

When to restart the demo

  • When camera has lost its connection due to electrical or mechanical issue.
  • When USB2DYNAMIXEL has lost its connection due to electrical or mechanical issue.
  • When resetting DYNAMIXEL with Reset button due to DYNAMIXEL error.

How to restart the demo

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

$ sudo service OP3-demo restart