Khepera III Toolbox/Network Setup

USB

The USB port on the Khepera III robot can be used to establish a network connection between the robot and a Linux computer. Start by connecting your robot and your computer with a USB cable.

Connecting for the first time

If you just bought your Khepera III robot, the USB network interface is disabled. To enable it, connect your robot with a serial cable (using a KoreConnect, for example), log in with username "root" and type:

modprobe g_ether
ifconfig usb0 192.168.1.2

The first line loads the driver, while the second line configures an IP address. On your computer, you can now set a corresponding IP address by typing

sudo ifconfig usb0 192.168.1.1

in a terminal, or using your network configuration program. (Note that "usb0" might be called differently on some computers. To get a list of all network endpoints, simply type "ifconfig".)

Connecting after the install scripts have been run

On a Khepera III robot on which the install scripts have been run, the USB network interface will automatically appear with IP address 192.168.1.2 when you connect the cable. Hence, you only need to configure your computer by typing

sudo ifconfig usb0 192.168.1.1

in a terminal, or using your network configuration program. (Note that "usb0" might be called differently on some computers. To get a list of all network endpoints, simply type "ifconfig".)

Testing the connection

To test if the connection works, type

ping 192.168.1.1

on your robot, or

ping 192.168.1.2

on your computer. Ping should work in both directions.

Wireless LAN (802.11)

If you are working with more than one robot, or if you want to communicate with your Khepera III while it is running an experiment, you will probably put a WLAN card in the available CompactFlash slot. This adds a new network interface, which is not configured by default. There is an install script, however, which automatically adds the necessary configuration and configures the interface with an IP address 192.168.141.ID, where ID corresponds to the robot ID.