X2go Instructions

x2go_instructions

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x2go instructions for EECS 106A
WARNING ABOUT HARDWARE
x2go allows you to remotely log into our real lab computers, which are networked with our physical
robots (Baxter, TurtleBots, etc.). Please do not attempt to control lab hardware unless you are
physically in 111 Cory watching the hardware you are using and have been properly instructed
in its use. This is extremely important for the safety of both our lab hardware and other students.
We the EECS 106A staff are trusting you to responsibly use this remote login framework; if incidents
happen, we may be forced to disallow remote login altogether.

Installation
You can find install instructions for your particular operating system here.

Setup
Once you have the x2go client installed (along with any other software required, e.g. XQuartz on
Mac), you may set up a profile to remote login to any of our lab computers. The following settings
are the only ones you should need to change from default:
●

your class login, e.g. ee106a-aaa

●

address of the lab machine, e.g. c111-1.eecs.berkeley.edu

●

the desktop environment should be XFCE, although on some machines MATE should also work
(and it will look nicer)

An important final note
In order to allow multiple users to run ROS applications on the same machine, we ask that, when
you log in remotely, you choose a port number for the environment variable ROS_MASTER_URI that
is different from the default port 11311. Simply pick another 5-digit number, for example:
export ROS_MASTER_URI=http://$(hostname --short):51304

This will let ROS nodes you launch connect to your roscore instead of another user's roscore. Make
sure to run the above command in the same terminal right before you launch your roscore.
(Alternatively, if you always plan to log in remotely in the future, you can add this line to the end of
your bashrc.)



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