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daisy is the rover equipped with the highest number of sensors.

Pioneer 3-AT daisy.

Network Setup

Please do not change the basic networking settings (several students and employees use the rovers). However, you can propose and implement better solutions in consultation with Denise.

Pioneer 3-AT daisy.

The Raspberry Pi daisy-pi automatically connects to the access point <SSID> over its interface wlan0 when available and is the gateway of the Jetson TK1. Denise manages the accounts and connection details (SSID, IPs, username and password) -> contact for account creation.

A router provides an access point for convinience. However, you can also setup a hotspot with the appropriate SSID and password.

To use daisy in a convenient way (with ROS launch files), follow the instructions of the rover network setup on the example of dagobert. You can test the network setup with following command (replace your-notebook with the hostname of your PC):

$ roslaunch pioneer_teleop drive.launch \
    notebook:=your-notebook robot:=daisy \
    robot-distro:=indigo robot-port:=/dev/ttyTHS1

Reach daisy

Jetson TK1 daisy uses its Ethernet port to communicate to the Raspberry Pi daisy-pi. The Jetson TK1 is therefore in a different network <ne> than the notebook <nw>.

IP forwarding must be enabled for the Pi’s Ethernet port eth to wlan0, which is performed by a script at startup. On the Jetson TK1 set the route to the WLAN network <nw>. And vice versa for the notebook (route to Jetson TK1).

Additionally to the settings below, daisy, daisy-pi and your notebook need appropriate host name entries in /etc/hosts mapping the name to the IP.

Settings on daisy

Network settings in /etc/network/interfaces:

auto eth1
iface eth1 inet static
  address <ne-daisy-ip>
  gateway <ne-daisy-pi-ip>

# Static route
up route add -net <nw-base-ip> netmask gw <ne-diasy-pi-ip>

Settings on daisy-pi

Network settings in /etc/network/interfaces:

# Connection to Jetson TK1
auto enxb827eb4e5821
iface enxb827eb4e5821 inet static
  address <ne-daisy-pi-ip>

Script for IP forwarding:

# enable ip forwarding
sudo sysctl -w net.ipv4.ip_forward=1
# forward packets from eth to wlan
sudo iptables -A FORWARD --in-interface enxb827eb4e5821 -j ACCEPT
sudo iptables --table nat -A POSTROUTING --out-interface wlan0 -j MASQUERADE

Added following snippet to /etc/rc.local:

# ip forwarding
/home/pi/ &
echo "start ip forwarding: eth -> wlan"

The WiFi connection to the access point is setup via the GUI.

Settings on your-notebook

Connect to the access point (router), enter the password and configure it as follows: (unused) static IP for your notebook, netmask, the gateway <nw-daisy-pi-ip>, DNS (e.g.,, and the route to daisy (address <ne-base-ip>, netmask, gateway <nw-daisy-pi-ip>).

When you want to use a hotspot on your notebook, check out the tutorial on how to setup a hotspot for Daisy.

Jetson TK1 Installation

Applications using Daisy



2019-02-06 | Denise Ratasich