Racing-Stack Remote Run Guide: Network, SSH, and Docker

This guide summarizes the remote execution setup for Racing-Stack. Follow the sequence network setup → SSH access → Docker access.

1. Network communication

You must confirm connectivity between the local PC and the vehicle first.

1-1. Check the network

• Use ifconfig to 확인 your current IP address.
• The local PC and the vehicle must be on the same network (Wi‑Fi).

• Use ping Car_ip to verify connectivity from the local PC to the vehicle.
• If there is no response, the Car IP may be wrong, the devices are not on the same network, or the vehicle power is off.

1-2. Set ROS network variables

Based on the IP addresses, update bashrc on the local PC.

• Local PC
  • ROS_IP / ROS_HOSTNAME: your local address so other ROS nodes can connect.

export ROS_IP="Local PC ip"
export ROS_HOSTNAME="Local PC ip"

• Vehicle (Car)
  • ROS_MASTER_URI: the address where the ROS master is running.

export ROS_MASTER_URI="http://Car_ip:11311"

2. Remote access via SSH

Use ssh to access the vehicle remotely.

ssh username@Car_ip

Useful options:

• -t: force a TTY for interactive commands (docker, roslaunch, etc.)
• -X: forward GUI to the local PC (rviz, rqt, etc.)
• -C: compress SSH traffic

Automate password input (sshpass)

sshpass -p 'password' ssh username@Car_ip

You can register an alias in bashrc for convenience.

alias your_command="sshpass -p 'password' ssh -t -X -C username@Car_ip"

3. Connect to the vehicle Docker container

After logging in via SSH, start and enter the container.

1. Start the container

docker start docker_name

1. Enter the container

docker exec -it docker_name bash

Note: GUI permissions are only available in the terminal you used for the initial SSH connection. Terminals opened later may not have GUI access. Use xeyes to confirm GUI permissions.

Wrap-up

Remote execution for Racing-Stack is reliable if you follow network setup → SSH access → Docker access. Correct ROS network variables are critical, and GUI use requires the proper SSH options and terminal session.