Has anyone ever tried connecting to an EtherCAT device via SOEM in WSL linux?
While TwinCAT successfully connects to my Maxon EPOS4 and moves a DC motor on my laptop under Windows 10 using RT-Ethernet Intermediate Driver, SOEM slaveinfo returns no slaves found on eth0 under WSL.
Ps. I use an ethernet to usb-c LAN adaptor with my laptop, automatic IP address, Ubuntu 18.04 on WSL 2 with Hyper-V installed, and tested turning off my windows firewall too. I have not used SOEM under windows yet due to compile issues. Initially, I had no socket found on eth0 issue, but it solved after installing hyper-V and upgrading my WSL current installation of Ubuntu-18.04 to WSL 2.
I have the same issue under WSL Ubuntu 20, when the firewall is deactivated, if I disable all TwinCAT services and uninstall the TwinCAT items from the Ethernet Properties window!
Here is what I do and the outputs:
$ sudo setcap cap_net_raw+ep /opt/ros/melodic/bin/slaveinfo
$ sudo /opt/ros/melodic/bin/slaveinfo
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Usage: slaveinfo ifname [options]
ifname = eth0 for example
Options :
-sdo : print SDO info
-map : print mapping
Available adapters
Description : lo, Device to use for wpcap: lo
Description : bond0, Device to use for wpcap: bond0
Description : dummy0, Device to use for wpcap: dummy0
Description : eth0, Device to use for wpcap: eth0
Description : sit0, Device to use for wpcap: sit0
End program
$ sudo /opt/ros/melodic/bin/slaveinfo eth0
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on eth0 succeeded.
No slaves found!
End slaveinfo, close socket
End program
Can you elaborate on your Ethernet controllers? Do you have the one USB-C adapter setup with TwinCAT and the RT-Ethernet driver? If so, I would expect that SOEM running in Ubuntu under WSL does not have access to this controller.
I would test on a system without TwinCAT installed, or rollback the TwinCAT RT-Ethernet driver installation so that the Ethernet controller is available to Windows and presumably WSL. Or can you have an additional adapter that isn't available to TwinCAT?
For me on windows eth0 would not work for epos4. I had to write getmac in a console and copy the line
\Device\Tcpip_{------- copy this part ------}.
Then in my code i would write
init_comm("\\Device\\NPF_{--- your copied part ---}");
I'm a beginner in this sort of thing so I could use a bit of help.
I'm usually able to ssh into my school's local cluster using the following command in Ubuntu 18.05 LTS
ssh username#hostname.com
Now this only works when I'm connected to my school's wifi. Whenever I'm off of it, I receive the following error.
ssh: connect to host hostname.com port 22: Resource temporarily unavailable
After some online digging, I figured I needed to port forward into the server, so I tried putting -L 22:localhost:22 after ssh, but it gave me the following error:
Privileged ports can only be forwarded by root.
If I put sudo before everything, it gives me the same port 22 error from before. I'm terribly lost and any help would be appreciated.
I have installed NetBSD 4.0.1 x68k on XM6i (http://www.ceres.dti.ne.jp/tsutsui/netbsd/x68k/NetBSD-x68k-on-XM6i.html) as a virtual machine emulating a 68030 platform. I have gotten everything to work except networking.
According to the documentation, you need to install a TAP-Win32 network adapter from OpenVPN installer, which I have. I have set the ipv4 settings of this adapter to IP address: 192.168.2.1 and Netmask: 255.255.255.0
In NetBSD, I have created a /etc/ifconfig.ne0 file to configure the ne0 network interface, which I assume represents the TAP-Win32 adapter. This file sets IP address to 192.168.2.17 and Netmask to 255.255.255.0
When i use "ping 192.168.2.1" on NetBSD I am unable to ping the host, the error message being: "host is down"
Does anyone know whats going wrong? If anyone could give me any advice I would be most grateful.
Update: Above problem has been solved .... but not quite.
If I have tinkered around with settings on host, now I can ping guest only if I run tcpdump -i ne0 on guest. Then after that I can also ping the host from the guest. I have tried restarting and trying without tcpdump but the changes didnt seem to stick, so i have to run tcpdump in order to setup the host only connection.
Is there any way I can do this without tcpdump and make the fix stick?
Edit: Here is the link to the new question with a more detailed explanation of the problem: Host Only connection NetBSD to Windows
It turns out to run a complete networking emulation on a 68030 machine on the latest version of XM6i, you need to run tcpdump on boot. There is no way around it.
I would like to connect to my raspberry pi using a MobaXterm to play with it from any computer, here how I started to make that work... I try to connect via MobaXterm using windows 8. My windows and my raspberry are both connected on a wifi network using the same netgear wn3000rp, it's a wifi extender.
When i create a ssh tunnel to my raspberry MobaXterm ask me to login to the raspberry, it process and then i receive this answer :
Connection refused
thank for your answer
Seems your port is being used.
If you don't have lsof already you can download and install it by becoming root and running:
root#machine:~# apt-get install lsof
To discover the process name, ID (pid), and other details you need to run:
lsof -i :port
So to see which process is listening upon port 24 we can run:
root#machine:~# lsof -i :24
After this you should be able to move on towards a solution.
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I'm working on a balloon project with a Raspberry Pi. When we potentially recover the Raspberry Pi, it will most likely be in a rural location and I'd like to turn off the Pi at that point safely.
Without a router or network nearby, I was wondering if there is a way to hook up a Raspberry Pi with an Ethernet cable directly to a laptop?
It's a solution for Ubuntu (the idea also works for Windows or Mac) I just tried today and it works like a charm.
Material
a cross-over Ethernet cable (the name is fancy but it's just a normal Ethernet cable)
a laptop (ubuntu)
a Raspberry Pi (I have the Pi2)
Prerequisites on your ubuntu
Install network-manager
$sudo apt-get install network-manager
Install nmap
$sudo apt-get install nmap
Edit Wired connection on your laptop (Ubuntu)
Change IpV4 settings to "Share to other computers"
Save the setting
Reboot your laptop
Share WiFi connection of your laptop via Ethernet crossover cable
Hook up your RPi with your laptop using the Ethernet cable
Look up the broadcast address of the Ethernet connection (Laptop),
$/sbin/ifconfig eth1 | grep "Bcast" | awk -F: '{print $3}' | awk '{print $1}' 10.42.0.255
Use this address to find out the IP address of your RPi, it's 10.42.0.96 in my case because 10.42.0.1 is my laptop
$nmap -n -sP 10.42.0.255/24
Starting Nmap 6.40 ( http://nmap.org ) at 2016-02-20 23:07 CET
Nmap scan report for 10.42.0.1
Host is up (0.00031s latency).
Nmap scan report for 10.42.0.96
Host is up (0.0023s latency).
Nmap done: 256 IP addresses (2 hosts up) scanned in 2.71 seconds
Login to your RPi from your laptop (-Y with X-forwarding)
$ssh -Y pi#10.42.0.96
Lo and behold! Now your RPi is connected to your laptop and RPi can share the WiFi connection.
pi#raspberrypi ~ $
Share display & keyboard of your laptop with RPi
Install vncserver on Raspberry Pi
$ sudo apt-get update
$ sudo apt-get install tightvncserver
Install vncviewer on your laptop by downloading RealVNC (it supports multiple platforms)
http://www.realvnc.com/download/vnc/
To be able to copy & paste from VNC server <--> VNC viewer, you need to install autocutsel on your RPi.
$sudo apt-get install autocutsel
If this site doesn't work, try to download the .deb directly from a mirror site, e.g.
mirror.hmc.edu/debian/pool/main/a/autocutsel/autocutsel_0.10.0-1_armhf.deb
and install it
$sudo dpkg -i autocutsel_0.10.0-1_armhf.deb
Start vncserver on your RPi (You have to restart vncserver after installing autocutsel, you can issue $vncserver -kill :1)
$vncserver :1
Add autocutsel -fork to /home/pi/.vnc/xstartup
#!/bin/sh
xrdb $HOME/.Xresources xsetroot -solid grey
autocutsel -fork
#x-terminal-emulator -geometry 80x24+10+10 -ls -title "$VNCDESKTOP Desktop" &
#x-window-manager &
# Fix to make GNOME work
export XKL_XMODMAP_DISABLE=1
/etc/X11/Xsession
Start vncviewer on your laptop
$vncviewer
A vncviewer window will pop up and type in the IP address of your RPi (given by your laptop) followed by port 1, which is your VNC server. for example: 10.42.0.96:1 in my case.
Connect it to the vncserver hosted on your RPi by typing in a password (set up a password yourself)
12.Now you can see the desktop of RPi on your laptop, and I opened my browser to show the shared WiFi connection is working as well.
See Raspberry Pi desktop on your ubuntu
No router + no screen + regular Ethernet cable + RPI 2 + Raspbian Lite 2018-11-13 + Ubuntu 18.10
First we must enable the SSH server on the Pi, which is disabled by default for security.
If you already have a shell on the Pi through a non-SSH method such as screen + keyboard or UART (see below), just run:
sudo systemctl enable ssh
sudo service sshd start
as explained at: https://raspberrypi.stackexchange.com/questions/58478/ssh-not-working-with-fresh-install This persists across boots.
Otherwise, insert he SD card on your host, and create a magic empty file named ssh file in the boot/ partition.
On Ubuntu hosts, it gets mounted automatically and you can do just:
sudo touch /media/$USER/boot/ssh
which you can confirm with:
lsblk
which contains:
mmcblk0 179:0 0 14.4G 0 disk
├─mmcblk0p1 179:1 0 43.9M 0 part /media/ciro/boot
└─mmcblk0p2 179:2 0 14.4G 0 part /media/ciro/rootfs
If you don't enable the SSHD daemon on the Pi then SSH connection will fail with:
ssh: connect to host 10.42.0.160 port 22: Connection refused
when we try it later on.
After enabling the SSH server
Next, boot the Pi, and link an Ethernet cable from your laptop directly to the Pi:
On Ubuntu 17.04 to work around this bug as mentioned on this answer you first need:
sudo apt-get install dnsmasq-base
On the host, open the network manager:
nm-connection-editor
And go:
+ sign (Add a new connection)
Ethernet
Create
IPv4 Settings
Method: Shared to other computers
Set a good name for it
Save
Find the IP of the Pi on host:
cat /var/lib/misc/dnsmasq.leases
outputs something like:
1532204957 b8:27:eb:0c:1f:69 10.42.0.160 raspberrypi 01:b8:27:eb:0c:1f:69
10.42.0.160 is the IP, then as usual:
ssh pi#10.42.0.160
I also have the following in my .bashrc:
piip() ( cat /var/lib/misc/dnsmasq.leases | cut -d ' ' -f 3; )
pissh() ( sshpass -p raspberry ssh "pi#$(piip)"; )
From inside the Pi, notice that it can access the internet normally through your host's other interfaces:
ping google.com
For example on my laptop, the Pi takes up the Ethernet, but the host is also connected to the internet through WiFi.
The crossover cable is not required if the host network card supports Auto MDI-X. This is the case for most recent hardware, including for example the 2012 Lenovo T430 I tested with, which has an "Intel® 82579LM Gigabit Network Connection" which documents support for Auto MDI-X.
Now you can also:
access the Internet from the PI through your Ubuntu's Wifi connection
open a VNC to get rid of the display as well: https://raspberrypi.stackexchange.com/questions/14611/how-to-set-up-raspberry-pi-without-a-monitor/54393#54393
UART serial USB converter
This is an alternative to SSH if you just want to get a shell on the Pi: https://en.wikipedia.org/wiki/Serial_port
This does not use SSH or networking itself, but rather the older, simpler, more direct, more reliable, lower bandwidth, lower distance serial interface. The Pi won't have access to the Internet with this method.
Desktop computers still have a serial port which you can connect directly wire to wire with the Pi, but these are hidden in most laptops, and so we need to buy a cheap USB adapter. Here I've used a "DSD TECH USB to TTL Serial Converter" https://www.amazon.co.uk/gp/product/B072K3Z3TL See also: https://unix.stackexchange.com/questions/307390/what-is-the-difference-between-ttys0-ttyusb0-and-ttyama0-in-linux/367882#367882
First plug the SD card on the host, and edit the config.txt file present in the first partition to add:
enable_uart=1
as explained at: https://www.raspberrypi.org/forums/viewtopic.php?f=28&t=141195
This first partition contains the bootloader, its configuration files and the (Linux / your) kernel, config.txt being one of them. The second partition contains the actual Linux root filesystem.
Now connect your computer to the Pi as:
You only need to attach 3 cables:
Ground to Ground
Tx on Pi to Rx on the USB to serial port
Rx on Pi to Tx on tye USB to serial port
This is also documented at: https://www.raspberrypi.org/documentation/usage/gpio/README.md
Be careful not to link the Ground to the 5V, I've already burned 2 UART to USB chips and a RPI UART by doing that!
You don't need to connect the 5V to the 5V at all. I think you can power your Pi like that, but I've read that this is a bad idea, just use the usual USB power source.
Finally, plug the USB side of the connector to your host computer, and get a shell with:
sudo apt install screen
sudo usermod -a -G dialout $USER
screen /dev/ttyUSB0 115200
Exit with Ctrl-A \.
Here is a video by Adafruit showing it: https://www.youtube.com/watch?v=zUBPeoLW16Q
See also
Similar question on RPI SE: https://raspberrypi.stackexchange.com/questions/3867/ssh-to-rpi-without-a-network-connection
You don't need a cross-over cable. You can use a normal network cable since the Raspberry Pi LAN chip is smart enough to reconfigure itself for direct network connections.
Cheers
I've just implemented and test this successfully. Same situation with my project, want to connect to a Raspberry Pi with no router or wifi. Just a simple ethernet cable.
Using ssh putty program put the address as
raspberrypi.local
Log and in and you can access the terminal.
Alternatively if VNC server is setup, use VNC server and put
raspberrypi.local:1
In the server address. input your VNC server password and you've now got GUI access to do what you want.
In may case it was run scripts in a remote location. In the posters situation, safely shutdown the Pi. Simples Pimples.
Configure static ip for your laptop and raspberry pi.
On the rapberryPI configure it as following.
pi#rpi>sudo nano /etc/network/interfaces
Then configure following as required to connect to your laptop.
iface eth0 inet static
address 192.168.1.81
netmask 255.255.255.0
broadcast 192.168.1.255
configure static ip on the raspberry pi:
sudo nano /etc/network/interfaces
and then add:
iface eth0 inet static
address 169.254.0.2
netmask 255.255.255.0
broadcast 169.254.0.255
then you can acces your raspberry via ssh
ssh pi#169.254.0.2
Here are the instructions for Windows users on connecting to a RPi by using just an Ethernet cable and a DHCP server. There is no need for a cross over cable, as the RPi can handle it. I have a blog post that documents this with pictures here which may be easier to follow.
Downloads
Download the DHCP Server for Windows (download link is here). Unzip the zip file and open the dhcpwiz application, which will configure the DHCP server.
DHCP Server Configuration
Hit next on the first screen.
On the second screen, look for a "Local Area Connection" row and verify its IP address is 0.0.0.0 and its status is enabled. Connect the Ethernet cable from the RPi to your laptop, and turn on the Pi. Hit refresh on this screen until the IP address changes to 169.254.*.*. If it is anything else then you should alter your network settings for the Local Area Connection (make sure it is not a static IP/DNS). Click on this Local Area Connection row and hit next.
Check HTTP (Web Server). This makes it much more easy to locate the RPi's IP address. Hit Next.
Take the defaults and hit Next until you get to the Writing the INI file screen. Check Overwrite existing file and hit the Write INI file button. Then hit Next.
On the final screen, check Run DHCP server immediately and hit `Finish.
DHCP Server and Obtaining the IP Address of your Raspberry PI
This launches the actual DHCP server, using the configuration you just created in the previous wizard. Click the Continue as tray app button, and the DHCP server will be minimized to your system tray.
Anywhere from 1 second to 5 minutes from now you will see an alert on the system tray with your laptop and your RPi's new IP address. This alert is really quick and you will probably miss it. Normally your RPi's IP is 169.254.0.2, but it could be *.01 or even something else. It is easier to access the DHCP server's web UI at http://localhost/dhcpstatus.xml. This will list the hostname as "raspberrypi" with its IP address.
Now you can putty or remote desktop into your RPi, and configure its wireless settings or whatever you want to do.
Trouble shooting
This can be somewhat finicky. I've had my connection appear to drop and have been unable to SSH back in using the IP address. Normally, I can restart the Pi and get the IP address again. Sometimes I have to restart both the RPi and the DHCP server. Sometimes I have to do this multiple times. At one point when I wasn't getting a connection for 15 minutes, I copied all of the files in the dhcpsrv2.5.1 folder to a new folder and tried again; it immediately worked.
You could use a cross-over ethernet cable - http://en.wikipedia.org/wiki/Ethernet_crossover_cable
Assuming your RPi is a DCHP Client, then best to run a simple DHCP server on your notebook to assign the RPi an IP address.
Yes, you can connect the raspberry direct to your PC without router.
For this is necessary that the raspberry and your computer are on the same subnet, and they both have a static ip configured (And an Ethernet cable connected between the two devices).
An ideal configuration would be the following:
Raspberry on eth0: IP: 192.168.1.10 SubNet: 255.255.255.0
Your PC: IP: 192.168.1.11 SubNet 255.255.255.0
To set a manual IP on raspberry you can follow this guide
In your PC you can set a manual IP in the network adapter settings,and the procedure depends on your operating system.
When you have configured the two static IP, you can connect to the raspberry via SSH using the IP set (192.168.1.10).
Another simpler method is to attach on GPIO a button to turn off the raspberry! Take a look here!
What worked for me was a combination of the answers from Nicole Finnie and Ciro Santilli along with some answers from elsewhere.
Setting up the pi
We will need to do two things: activate ssh on the pi, and configure the pi to use a static ip.
Activating ssh
Add a file called ssh in the boot partition of the sd card (not the /boot folder in the root partition). This is well documented other places.
Static ip
Open /etc/dhcpcd.conf on the pi's SD-card, and uncomment the example for a static ip (starts around line 40). Set the addresses to
# Example static IP configuration:
interface eth0
static ip_address=10.42.0.182/24
static routers=10.42.0.1
static domain_name_servers=10.42.0.1 8.8.8.8 fd51:42f8:caae:d92e::1
Setting up your laptop
First, make sure you have networkmanager (with GUI) installed on your laptop. Then, make sure dnsmasq is not running as a service:
systemctl status dnsmasq
If this command prints that the service is stopped, then you're good.
Next we have to config networkmanager. Open /etc/NetworkManager/NetworkManager.conf and add the following two lines at the top:
[main]
DNS=dnsmasq
Then reboot. This step might not be necessary. It might be sufficient to restart the NetworkManager service. Now go to the NetworkManager GUI (usually accessed by an icon in the corner of the screen) and choose Edit Connections... In the window that pops up, click the + icon to create a new connection. Choose Ethernet as the type and press Create.... Go to the IPv4 Settings tab and select the method Shared to other computers. Give the connection a good name and save.
Connect the Raspberry Pi and make sure your laptop is using your new connection as its ethernet connection. If it is, your pi should now have an ip given to it by your pc. You can find this by first running ifconfig. This should give you several blocks of text, one for each network interface. You're interested in the one that is something like enp0s25 or eth0. It should have a line that reads something similar to
inet 10.42.0.1 netmask 255.255.255.0 broadcast 10.42.0.255
look at the broadcast address (in this case 10.42.0.255). If it is different than mine, power off the pi and put the SD card back in your laptop to change the static ip_address to something where the first three numbers are the same as in your broadcast address. Also change the static routers and the first of the domain_name_servers to your laptop's inet address. Power the pi back on and connect it. Run ifconfig again to see that the addresses have not changed.
ssh into the pi
ssh pi#10.42.0.182
If you get connection refused, the pi isn't running an ssh server. If you get host unreachable, I'm sorry.
Hope this helps someone!