How to connect to Triton

• Functionality/goal:
• • Configure the network settings of your (robot) pc and Triton
• Context/When needed: 
• • To set up Triton (and other sensors) to work with your robot
  • To connect to Triton via the GUI (Accerion Control Center)
• Prerequisites:
• • Knowledge on how to setup the host network adapter settings
  • Knowledge on Triton’s default setup:
  • • Default IP address: 192.168.0.1xy, with xy the final two digits of the serial number
    • Default Netmask: 255.255.255.0
    • Default Gateway: 192.168.0.1
  • The Triton has a wired connection to the robot’s host pc

This article shows the steps on how to set up the connection properties for Triton on Windows. If the Accerion GUI software doesn’t show the Triton Serial number automatically, then following the steps in this article to change the IP Address settings might solve the issue.

Step1: Open the IP network settings on Windows:

The IP network setting dialog can be found under windows settings > Network & Internet > Change adapter options > Ethernet > Properties. The following Ethernet setting window should show up:

Step 2: Modifying the TCP/IPv4 settings:

By selecting “Internet Protocol Version 4 (TCP/IPv4)” Under “Networking tab and clicking on Properties, the following IP Setting page shows up:

Do not use a IP address that can match the Triton one (by default this will be in the range 192.168.0.100 - 192.168.0.199)

Now, the TCP/IPv4 settings should be modified to match the settings shown above. After that, click OK and close the IP Setting window. This should solve the connection issue. However, if the issue persists please continue to step three.

Step 3: Turn off Windows 10 firewall (optional)

If the problem is not solved by modifying the IP address, then It might worth checking out the Firewall settings in windows and turn it off temporarily to determine if the problem is caused by it. To turn the firewall off, simply open the “Firewall & Network Protection” window by typing “firewall” in the start search bar. In the window click on “Public Network” then switch the “Windows Defender Firewall” off by clicking on the toggle switch underneath it. The setting page should look as follows:

Step 5: Run Accerion Control Center in compatibility mode

If you still experience troubles when connecting the sensor to the GUI, try the following:

right click on Accerion Control Center icon -> properties -> compatibility -> run compatibility troubleshooter then "use recommended settings"

(This guide is and its screenshots are based on Ubuntu 18.04. For later version the screenshots might look different)

Step 1: Open the IP network settings on Ubuntu:

The IP network setting dialog can be found under Ubuntu settings > Network > Wired > Settings:

Step 2: Enter the correct network settings:

From the wired settings window, click on IPv4 and change the settings to match those entered in the next image (It is recommended to use a network with Netmask /24 (255.255.255.0)):

Now, click “Apply” and close the settings window. Check if the ACC software detects the Triton Automatically. If not, then close the ACC software and unplug the network cable from the PC port then plug it again. Check if the problem is solved.

Step 3: Disable firewall (if applicable)

Some machines have a firewall activated (such as ufw - Uncomplicated Firewall) that can prevent the Triton from being detected. Please ensure the firewall is deactivated. For ufw this can be checked via:

sudo ufw status

Response:

Status: inactive

Now the serial number of the Triton should show up automatically in the GUI once started up.

You can change Triton network settings via ROS, C++, CLI and GUI. For GUI: Go to the Sensor Settings tab, scroll down to the Network Settings:

To change settings:

• Cick "Sensor Settings" from the menu on the left
• Go to "Network Settings"
• Click ‘Edit’
• Change settings
• Click ‘Save'

Note: In order for a change in IP address to take effect, you have to reboot the Triton.