Computers Overview

PR2 has two computers, each has 24 Gb of RAM, 2 quad-core Nehalem processors, and both a 2.5 inch internal hard-drive and an externally removable 3.5 inch drive.

Additionally, the PR2 ships with a basestation computer which facilitates seamless communication with the PR2 when transitioning between wired and wireless networks, and additionally helps in a number of maintenance tasks.

1. Computer 1 (c1)

Computer 1 (c1) is physically located on the right side of the robot. It is referred to as the master computer because it serves a number of key roles for the computer infrastructure:

• c1 stores the operating system of both computers. C2 cannot boot unless c1 has booted first.
• c1 is connected to the PR2 ethercat network, and is the only computer that can perform motor control.
• c1 provides routing for the rest of the robot when it is plugged in via the WAN port.
• c1 provides routing for the rest of the robot when connected to another network via an open VPN tunnel

c1's PCI slot is used for a 4-port ethernet card, giving it a total of 6 ethernet ports. These are:

• lan0 - lan3: connection to internal robot network
• wan0: connected directly to WAN port on back of robot
• ecat0: connected to robot ethercat network

2. Computer 2 (c2)

Computer 2 (c2) is physically located on the left side of the robot. It is sometimes referred to as the slave computer because it netboots from c1.

c2 only has 2 ethernet ports, lan0 and lan1, both of which are connected to the internal robot network.

3. Basestation

The basestation is a Zareason xPC. It is a dedicated point of contact through which network traffic to the robot can be routed. It has 2 ethernet ports, wan0, on the motherboard, is the primary ethernet port. It is intended to be plugged into your building network. lan0, on the pci card is a dedicated port for servicing the robot. When necessary, this port should be plugged directly into the robot service port.

When configured properly, it is important that the basestation is visible on UDP port 1194 (or other user-configurable port) both via the wired building network as well as via the building wireless network. This will likely require assistance from the local network administrator.

4. Default Password Reference

There are many different devices which make up the PR2. Many of these have passwords which should be changed for security purposes. The default logins and passwords are:

• Basestation (10.68.0.6). Standard unix logins:
  • root - willow
  • pr2admin - willow
• C1 (10.68.0.1). Standard unix logins:
  • root - willow
  • pr2admin - willow
• C1 (10.68.0.1). Web-interface login:
  • admin - admin
  • guest - guest
• C1 ESMS (10.68.0.91
  • root - changeme
• C2 ESMS (10.68.0.92)
  • root - changeme
• Wireless Router (10.68.0.5)
  • root - willow
• Wireless Access Point (10.68.0.250)
  • root - willow