Clear instructions for Offline configuration and opperation

[Simba185]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Simple Discovery

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

not applicable,

Type of issue

Networking

Expected behaviour

Connect to wired connection for packages and then connect to Wi-Fi for operation.

Actual behaviour

We need a clear method to utilize the Turtlebot 4 without internet connection.

Is it possible to configure the tb4 with a wired connection then connected to a local wireless network for operation.

If so please provide clear instructions .

thanks.

Error messages

No response

To Reproduce

not currently applicable.

Other notes

No response

[mbergman257]

Hi, these might be helpful to access the raspberry pi without connecting it to a network:
https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#connect-to-the-access-point
https://turtlebot.github.io/turtlebot4-user-manual/setup/basic.html#recovering-the-raspberry-pi

[RustyCPR]

Hi @Simba185
Did @mbergman257 suggestion help with interfacing to the RPi using ethernet?

Thanks @mbergman257 !

Regards,
Rusty

[Simba185]

@RustyCPR

No unfortunately I am really looking for a system that would allow us to configure and use the turtlebot on a wifi network without internet.

I would need a way to host any files that are needed from the internet, and some method to tell the turtlebot that's where to get the files from.

This is still not an ideal setup. and is not an issue with the turtlebot, but an issues of access within my organization.

Any ideas are appreciated, Thanks.

[slowrunner]

What is the complete statement of the starting point?

I am no ROS expert, so my thoughts may be wrong!

The main “files” needed for initial configuration are the desired ROS Version Create3 firmware image, and the matching Raspberry Pi 4 image. Initial configuration of a ROS 2 desktop computer without access to the Internet is only possible if you set up a local ROS package mirror (and possibly a total Ubuntu package mirror for the release version you wish to support.)

After initial configuration, the chrony config file must be changed to point to a local time server.

The next problem to be solved will appear when users try to build their custom nodes which starts with running rosdep. The rosdep application will need a local ROS package mirror to get any additional needed packages, and to ensure all existing packages are up to date.

http://wiki.ros.org/ROS/Installation/UbuntuMirrors

[RustyCPR]

Hi @Simba185
Reviewing with our team we have no concerns with running your TB4 on a Wi-Fi network with no internet access.
Only time the TB4 would need to connect to the internet would be to download packages you require.

To run on WiFi network with no internet modify chrony.conf on the RPi to point at your own server. https://ubuntu.com/server/docs/how-to-serve-the-network-time-protocol-with-chrony

We don't recommend setting up a local ROS package mirror - connect to the internet as needed to pull packages.
Best regards,
Rusty