Our AUVs are networked so that we can ssh into the computers via ethernet while testing. We have our own router setup which creates this network. You can connect directly to the computer via the router and ethernet cable (testing on land), or you can connect via the tether ethernet cable (testing in water).

Note: If connecting an AUV with a network switch, always connect the ethernet cable to the leftmost LAN port on the router. Otherwise, use one of the right 4 ports.

To connect via direct ethernet, follow these steps:

1. Turn on the AUV and/or networked computer
2. Turn on the router box
3. Connect an ethernet cable from the ethernet port of the AUV computer to an ethernet port on the router.
   1. Check to make sure that the light corresponding to the router ethernet port which the computer was plugged into is lit up

The submarine is now connected to the network submariners-5g

To connect via the ethernet tether, follow these steps:

1. Turn on the AUV and/or networked computer
2. Turn on the router box
3. Connect the ethernet tether to the AUV
4. Connect the communication cable between the tether spool and the router box
   1. Check to make sure the globe icon on the router is lit up

The submarine is now connected to the network submariners-5g

Once the submarine is connected to submariners-5g, to ssh into the computer, follow these steps:

1. Connect to the submariners-5g wifi network
   1. Password: tauv
2. Open a terminal session
   1. Run the command: ssh tartanauv@<address> where <address> is the network address of the computer you wish to connect to. Historically, the Kingfisher AGX Orin has address 10.0.0.10 and the Albatross AGX Xavier has address 10.0.0.20
   2. When prompted, type in the password to the AUV computer

You're now ssh'ed into the AUV computer! Note that upon connecting, you're brought into the computer's default OS, not the Docker container.

The AUVs run a Docker container with an Ubuntu 20.04 install along with other dependencies like ROS. You must first run the Docker container before running any code on the vehicle.

1. Navigate to /path/to/workspaces/tauv_apps. This is where the Dockerfile lives.
2. Launch the container:
   1. First, run the command: make up
   2. Next, run the command: make attach

You're now inside the Docker image and can run code. Code lives in the /shared/ folder of the Docker OS.