as it turns out… on ubuntu 22.10 and onward stops using the config file for ports…
so the old way was
vi /etc/ssh/sshd_config
and literally one line in there, “Port 2077”
(I also do PubkeyAuthentication yes, PasswordAuthentication no, UsePAM yes — I think the first and third settings are actually the default settings, so only need to disable password and add in port).
sudo service ssh restart
and just append your pubkeys to ~/.ssh/authorized_keys
so on reboot switched back to old port. I was using say 2077.
netstat | grep 2077
no services listed.
I got clued into this using sudo service ssh status and it said
$ sudo service ssh status
Oct 31 15:58:54 sffpc systemd[1]: Starting OpenBSD Secure Shell server… Oct 31 15:58:54 sffpc sshd[6683]: Server listening on :: port 22.
And I went back to /etc/ssh/sshd_config and saw the lines
14 # Port and ListenAddress options are not used when sshd is socket-activated, 15 # which is now the default in Ubuntu. See sshd_config(5) and 16 # /usr/share/doc/openssh-server/README.Debian.gz for details.
you can also read more at
the docs
vi /usr/share/doc/openssh-server/README.Debian.gz
or https://github.com/namedun/debian-openssh/tree/master/debian
The provided ssh.socket unit file sets ListenStream=22. If you need to have
it listen on a different address or port, then you will need to do this as
follows (modifying ListenStream to match your requirements):
mkdir -p /etc/systemd/system/ssh.socket.d
cat >/etc/systemd/system/ssh.socket.d/listen.conf <<EOF
[Socket]
ListenStream=2222
EOF
systemctl daemon-reload
See systemd.socket(5) for details.
tl;dr the new way
Okay, so what I actually did was just edit the file with vi (you can use nano) since I was having issues with bash balking at creating the file etc.
$ sudo mkdir -p /etc/systemd/system/ssh.socket.d
$ sudo vi /etc/systemd/system/ssh.socket.d/listen.conf
$ sudo service ssh reload
And now I can ssh from another computer yay!
notes
I think in the future I will just use the default port. too much headache.
WAN -> virtual server /port forwarding. Add profile: Protocol TCP, external port 20whatever, internal port 2077, Internal IP (find your computer on the list of stuff connected to router)
debug1: Authenticator provider $SSH_SK_PROVIDER did not resolve; disabling
this was red herring; if it gets to “connection refused” that means we were able to make contact with the server, and it’s something on the server side.
I briefly installed from source and decided if I had to go down that route I wasn’t interested enough
install examples
git clone https://github.com/krishauser/Klampt-examples
cd Klampt-examples/Python3/demos
python kbdrive.py ../../data/tx90roll.xml
output
Python 3.10.5 (v3.10.5:f377153967, Jun 6 2022, 12:36:10) [Clang 13.0.0 (clang-1300.0.29.30)] on darwin
Type "help", "copyright", "credits" or "license" for more information.
>>> import klampt
>>> klampt.__version__
'0.9.0'
fixed code
in same folder, tried to run
cd Klampt-examples/Python3/demos
python teacup.py
the fixed code
import klampt
from klampt.plan import cspace,robotplanning
from klampt.model import trajectory
from klampt.io import resource
import time
from klampt.plan.robotcspace import RobotCSpace
from klampt.model import collide
world = klampt.WorldModel()
#world.readFile("Klampt-examples/data/tx90cuptable.xml")
success = world.readFile("../../data/tx90cuptable.xml")
if not success:
raise RuntimeError("Unable to load world")
robot = world.robot(0)
#this is the CSpace that will be used. Standard collision and joint limit constraints
#will be checked
#space = robotplanning.makeSpace(world,robot,edgeCheckResolution=0.05)
space = RobotCSpace(robot,collide.WorldCollider(world))
#fire up a visual editor to get some start and goal configurations
qstart = robot.getConfig()
qgoal = robot.getConfig()
save,qstart = resource.edit("Start config",qstart,"Config",world=world)
#it's worthwile to make sure that it's feasible
while save and not space.feasible(qstart):
print("Start configuration isn't feasible, please pick one that is collision-free")
save,qstart = resource.edit("Start config",qstart,"Config",world=world)
save,qgoal = resource.edit("Goal config",qgoal,"Config",world=world)
while save and not space.feasible(qgoal):
print("Goal configuration isn't feasible, please pick one that is collision-free")
save,qgoal = resource.edit("Goal config",qgoal,"Config",world=world)
# --------------
settings = {'type':'rrt',
'perturbationRadius':0.5,
'bidirectional':True,
'shortcut':True,
'restart':True,
'restartTermCond':"{foundSolution:1,maxIters:1000}"
}
t0 = time.time()
print("Creating planner...")
#Manual construction of planner
planner = cspace.MotionPlan(space, **settings)
planner.setEndpoints(qstart,qgoal)
print("Planner creation time",time.time()-t0)
t0 = time.time()
print("Planning...")
numIters = 0
for round in range(10):
planner.planMore(500)
numIters += 1
if planner.getPath() is not None:
break
print('\t*' * 6)
print("Planning time,",numIters,"iterations",time.time()-t0)
print('\t*' * 6)
path = planner.getPath()
if path is not None:
print("Got a path with",len(path),"milestones")
else:
print("No feasible path was found")
# --------------
#provide some debugging information
V,E = planner.getRoadmap()
print(len(V),"feasible milestones sampled,",len(E),"edges connected")
print("CSpace stats:")
spacestats = space.getStats()
for k in sorted(spacestats.keys()):
print(" ",k,":",spacestats[k])
print("Planner stats:")
planstats = planner.getStats()
for k in sorted(planstats.keys()):
print(" ",k,":",planstats[k])
if path:
#save planned milestone path to disk
print("Saving to my_plan.configs")
resource.set("my_plan.configs",path,"Configs")
#visualize path as a Trajectory resource
traj = trajectory.RobotTrajectory(robot,range(len(path)),path)
resource.edit("Planned trajectory",traj,world=world)
#Here's another way to do it: visualize path in the vis module
from klampt import vis
vis.add("world",world)
vis.animate(("world",robot.getName()),path)
vis.add("trajectory",traj) #this draws the end effector trajectory
vis.spin(float('inf'))
explanation
error 1. RuntimeError: Invalid robot index
The error here is actually, the path is incorrect for the world file.
The interactive window to choose a pose does pop up, but after hit “okay” immediate crashes
ValueError: Invalid length of embedded vector space vector: 12 should be 7
after digging around some other demo/test files, I believe the issues is the robot has 7 joints and the girpper has 5 joints
and there are two ways to specify a planner, one is like a higherlevel “robotplanning” and the other uses lower level “cspace” modules, and on the beginning of the page the example defines the space using robotplanning, but later define the planner using cspace.MotionPlanning.
this causes some issue i assume with loading the world consistently re: 7 vs 12 dimensions
anyway, use robotcspace
#space = robotplanning.makeSpace(world,robot,edgeCheckResolution=0.05)
space = RobotCSpace(robot,collide.WorldCollider(world))
from klampt.model import ik
print(robot.numLinks())
obj = ik.objective(robot.link(robot.numLinks()-1),local=[0,0,0],world=[0.5,0,0.5])
you can also run
python gl_vis_widgets.py ../../data/tx90cuptable.xml , manually move arm, and use menu item “print config” and the coordinates will print out on the terminal
