Connection

Dorna 2 controller is equipped with a single-board computer and a Debian-based (32-bit) Linux distribution to host the robot WebSocket server. The default hostname, username and password for the controller is:

# hostname
dorna

#username
dorna

# password
dorna

IP address

Any device connected to a Local Area Network is assigned an IP address. In order to connect to the robot controller (SSH, VNC or WebSocket), the IP address of the controller is necessary. There are many methods and online resources discussing this issue. For example, check this documentation. Here we discuss two main scenarios:

1. Connect to a router: Connect your robot controller to a router and then the robot is visible to any device connected to the same rerouter.
2. Direct connection: Connect your robot controller directly to your computer.

Connect to a router

Connect your robot to your router. Use Ethernet cable for the connection, unless you have set up the robot WiFi to connect to your wireless router (navigate to the Wifi section for setting up the controller WiFi).
Once your robot is connected to the router, you need to find the IP address of the robot. Here we mention two ways to find the IP assigned to your controller:

Router devices list

In a web browser navigate to your router’s IP address e.g. http://192.168.1.1, which is usually printed on a label on your router; this will take you to a control panel. Then log in using your credentials, which is usually also printed on the router or sent to you in the accompanying paperwork. Browse to the list of connected devices or similar (all routers are different), and you should see some devices you recognize. Some devices are detected as PCs, tablets, phones, printers, etc. so you should recognize some and rule them out to figure out which is your robot. Also note the connection type; if your robot is connected with a wire there should be fewer devices to choose from. Once you obtain the robot IP address, you can easily connect to your robot. For example, in this image the IP address of the robot is 192.168.1.9

# SSH to the robot via its IP address
ssh dorna@192.168.1.9

# WebSocket URL in Dorna lab
ws://192.168.1.9:443 

Use display

Connect a display to the controller box, through micro HDMI port on the side of the controller. Open a terminal on the robot OS and simply type hostname -I which will reveal your controller IP address.

Direct connection

In this section we will explain how to connect to Dorna 2 controller using an Ethernet cable connected to an Ethernet port on your Windows computer on one end, and to the Ethernet port of Dorna 2 controller box on the other end. The method below is for a Windows computer, but the procedure is very similar on other operating systems.

Open a terminal (type "cmd" in Windows command line)

Then ssh to Dorna 2 controller using the following command:

# ssh to the robot
ssh dorna@dorna

After that you will be asked to enter the password, which is dorna by default.

Note that dorna (all small letters) is the default host name, username and password for Dorna 2 controller and should be recognized by your Windows computer. If it is not recognized, you will need to use a different method (as specified in the link in the beginning of this section) to find the IP address of the robot and use it instead of the hostname in the command above.

After establishing ssh connection, use command ifconfig in the terminal window to find the LAN IP address of Dorna 2 controller.

Two numbers are important in the output of ifconfig command. One is the controller Ethernet IP address which is in our specific case 192.168.1.6 and the next one is netmask number which in our case is 255.255.255.0.

Now, you have to change the Ethernet settings on on your Windows computer to be able to discover the controller IP address.

Open, control panel on Windows and click on Network and Internet.

Next, click on the Network and Sharing Center.

Next click on the change adapter setting.

From the window that opens, choose Ethernet.

Now double click on Internet Protocol Version 4 (TCP/IPv4).

In the window that opens, choose Choose the following IP address: option and enter the IP address and Subnet mask from your controller ifconfig output, with one modification that the last number of the IP address should be different from the the controller IP address (within range of 0 to 255). Here we pick 192.168.1.7, but anything other than 6 will work for the last number. Next click on OK to save the assigned IP address.

Now your Windows computer can recognize the controller IP address. To connect to the controller in Dorna lab click on connection status link on the top of the page.

In the connection window that opens, place the hostname of your controller which is dorna or just use the IP address of the controller that you found in previous steps in the Websocket URL Area followed by the port number (which is 443) and click on Connect.

Now Dorna lab is connected to the controller and you can begin operating Dorna.

WiFi

WiFi has been enabled by default on the robot. But you still need to set the SSID and Password of your wireless network.

Notice that the WiFi signal is not as reliable as the Ethernet LAN. If you still willing to use WiFi we recommend connecting a USB WiFi adapter to your controller USB port, for a better and more reliable communication.

There are multiple ways to configure the WiFi and some of them can be found here.

System configuration

The quickest way to setup the WiFi is a follow:

• ssh to your robot controller.
• In the command line type in sudo raspi-config, and this will bring you to your controller configuration tool.
• Navigate to Network Options (usually listed as number 2) and then Wireless LAN (usuall listed as N2).
• Follow the steps and set the SSID and Password of your wireless network.

SSH

SSH has been enabled by default on the controller. Once you have the IP address of the robot controller, open a terminal (cmd) and use the ssh command.

# SSH to the robot via the robot IP address
ssh dorna@controller_ip_address

Notice that the default hostname, username and password for the robot controller is dorna.

Multicast DNS

Multicast DNS is supported by the controller. Most of the time when the controller is connected to your computer (via router or direct connection) you can use the default hostname (dorna) for SSH.

# SSH to the robot via hostname
ssh dorna@dorna

SSH error

Sometimes when we run the ssh command we get the following SSH error.

C:\Users\dorna_pc>ssh dorna@192.168.1.10
@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
@    WARNING: REMOTE HOST IDENTIFICATION HAS CHANGED!     @
@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
IT IS POSSIBLE THAT SOMEONE IS DOING SOMETHING NASTY!
Someone could be eavesdropping on you right now (man-in-the-middle attack)!
It is also possible that a host key has just been changed.
The fingerprint for the ECDSA key sent by the remote host is
SHA256:pV1UGcJak6AtWKRiAFP72mUO11uQAq97HMTnn1KqD5s.
Please contact your system administrator.
Add correct host key in C:\\Users\\dorna_pc/.ssh/known_hosts to get rid of this message.
Offending ECDSA key in C:\\Users\\dorna_pc/.ssh/known_hosts:5
ECDSA host key for 192.168.1.10 has changed and you have requested strict checking.
Host key verification failed.

To solve this issue, run the following command, and try to ssh again.

ssh-keygen -R "you robot hostname or ip"

For example in this case we run the following command:

ssh-keygen -R 192.168.1.10

WebSocket server

The controller WebSocket server runs automatically when the controller is turned on. Connect to the WS server via port 443 of the controller, and its IP address (hostname also works sometimes). The WS URL is,

ws://controller_ip_address:443

For example,

# Example 1. Robot IP address is: 192.168.1.10
ws://192.168.1.10:443

# Example 2. Use the robot hostname: dorna
ws://dorna:443