Connect to the robot · Dorna Document

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

Find the robot IP address

Any device connected to a Local Area Network is assigned an IP address. In order to connect to the robot controller (SSH, Dorna Lab, WebSocket, API, VNC), we need the IP address of the controller. There are many methods and online resources discussing this issue. For example, check this documentation. Here we discuss two main common ways of connecting to the robot and find its IP address:

Connect to a router: Connect the robot controller to a router.
Direct connection: Connect the robot controller directly to your computer via Ethernet cable.

Connect the robot to a router

Connect the robot controller to a router and then the robot becomes visible to all the devices connected to that router. We recommend using an 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). Follow the steps below to find the local IP address of the robot:

Connect your computer to the same router as the robot is connected and find your computer local IP address using the instructions listed here.
For better understanding, we assume that your computer local IP address is 10.0.0.7 (this is just an example IP address, and your computer IP address can be totally different). Then the robot controller IP address is in the form of 10.0.0.x. Where x is any number from 0 to 255 (7 is already taken by your computer).
Use any of the following methods:
- IP scanner software: Download and install an IP scanner software like advanced IP scanner on your computer and put 10.0.0.0-255 to search for all the devices connected to the same router as your computer. Search for any device with dorna name and find its IP.
- Router devices list: In a web browser navigate to your router’s IP address (usually the ends with digit 1, so in this case: http://10.0.0.1) 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 the list of devices connected to the router. Look for any device with dorna in their name, and you should be able to find the robot IP there.

Connect the robot to a computer

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

Ethernet connection

Go to the Network Connections page on your computer. You can access to this page by going to your Control Panel > Network and Sharing Center > Change adapter settings.

Next, go to Wi-Fi > Properties > Sharing, check both options in the Internet Connection Sharing section and select the proper Ethernet connection under Home networking connection (mine is Ethernet 4). Click OK and close the Wi-Fi Status page. If you applied any changes in this section then it is recommended to restart your computer before going to the next steps.

Wifi status

Next, in the Network Connections page go to Ethernet (mine is Ethernet 4) > Properties > Internet Protocol Version 4 (TCP/IPv4).Check both Use the following IP address and Use the following DNS server address option. Set IP address to 192.168.137.1 and Subnet mask to 255.255.255.0 and leave the remaining fields blank.

Ethernet status

Now the robot controller is visible via your computer Ethernet port. Notice that the IP address of the robot is in the form of 192.168.137.x (according to the format we used in Use the following address field).

To find the robot IP address, download and install an IP scanner software like advanced IP scanner on your computer and search all the devices attached to your computer Ethernet port.

For the IP Range fields put 192.168.137.1-255. Once the search is over you should be able to find dorna name as one of the devices found in the list.

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.

WiFi adapter

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.

System config 1 System config 2

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 and the robot IP address.

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

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

SSH error

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

C:\Users\dorna_pc>ssh dorna@10.0.0.14
@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
@    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 10.0.0.14 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 robot_ip_address

For example in this case we run the following command:

ssh-keygen -R 10.0.0.14

Dorna Lab

Once you have the robot IP address, you can access Dorna Lab by typing the robot IP address in a browser htpp://robot_ip_address (Chrome browser is recommended). For example,

# Robot IP address is: 10.0.0.14
http://10.0.0.14

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://robot_ip_address:443

For example,

# Robot IP address is: 10.0.0.14
ws://10.0.0.14:443

Robot internet access

The robot does not require an internet access during its normal operation. The only time the internet access is required, is during the upgrade process of the robot. If the robot is connected to a router then it is connected to the internet if the router also has access to the internet. If the robot is connected directly to your computer then it has access to the internet if the computer itself is connected to the internet.