grep is the command for searching large amounts of text.
ssh is the secure shell command. It allows for accessing remote computers through the command line.
scp is the secure copy command. It allows for copying files from one system to another. The syntax is similar to ssh.
rsync also allows for remotely copying files, but does so in a way that better handles poor connections.
tmux is the terminal multiplexer. It is a terminal program that allows for splitting a single terminal into multiple terminals. The program runs server-side rather than client-side and allows users to detach and reattach to sessions. It is often used in HPC and server environments, allowing users to preserve their terminal sessions in the case of a disconnection.
tmuxp is a Python-based session manager for tmux which allows for the loading of tmux sessions from config files.
We use tmux and tmuxp as a way to launch multiple programs across different terminals running on the robot itself to be robust against dropped network connections. It’s important to note that you should not run actuation programs through tmux without proper emergency stop functionality in the case of a dropped connection.