Wireless

The wireless section configures wireless networking nodes that run on the robot, including the wireless watcher and any supported external wireless devices such as routers or base stations.

Key	Value / Datatype	Description
router	See below	Configuration for an onboard wireless router (e.g. a Peplink router installed on the robot). Default: null (no router).
base_station	See below	Configuration for an external base station router (using the same schema as router). Default: null (no base station).
enable_wireless_watcher	boolean	Enables or disables the wireless watcher node. Default: true.

For example:

platform:
  wireless:
    enable_wireless_watcher: true
    router:
      model: peplink
      ip_address: 192.168.131.51
      username: admin
      password: admin
      enable_gps: false
      publish_passwords: false

Wireless Watcher

By default, all Clearpath platforms launch a Wireless Watcher node. This node monitors the computer's integrated wireless interface connection. Some applications may not use this integrated wireless connection, in which case the wireless watcher node can be disabled, although it can be left enabled without negative ramifications.

For example, to disable the wireless watcher node:

platform:
  wireless:
    enable_wireless_watcher: false

note

The platform.enable_wireless_watcher key is deprecated and has been moved to platform.wireless.enable_wireless_watcher. The legacy key still works for backwards compatibility, but new configurations should use the wireless section.

Router

The router and base_station entries share a common schema. The router entry describes a wireless router installed on the robot, while the base_station entry describes an external router (e.g. mounted at a fixed location) that the robot communicates with.

The available options depend on the model. The currently supported models are listed below.

Common Options

Key	Value / Datatype	Description
model	string	The router model. Required. Currently only peplink is supported.
ip_address	string	The IPv4 address of the router on the robot's network.
launch_enabled	boolean	Whether the driver node for this router should be launched. Default: true.

Peplink

When model is set to peplink, the peplink_router_driver package is used to communicate with the router over its web API.

Key	Value / Datatype	Description
ip_address	string	The IPv4 address of the Peplink router. Default: 192.168.131.51.
username	string	The username used to authenticate with the router's web API. Default: admin.
password	string	The password used to authenticate with the router's web API. Default: admin.
enable_gps	boolean	If true, the driver publishes GPS data reported by the router (for routers equipped with GPS). Default: false.
publish_passwords	boolean	If true, Wi-Fi passwords reported by the router are published on the corresponding ROS topics. Default: false.

For example, configuring an onboard Peplink router and an external Peplink base station:

platform:
  wireless:
    router:
      model: peplink
      ip_address: 192.168.131.51
      username: admin
      password: admin
      enable_gps: true
      publish_passwords: false
    base_station:
      model: peplink
      ip_address: 192.168.131.52
      username: admin
      password: admin