• Create ssh profile

• remember to restart ssh agent on sim computer

• fixed 404 not found for a bunch of ros-jazzy packages

  • awu335@board:~/rb26$ sudo apt-get update && sudo apt-get install -y ros-jazzy-teleop-tools ros-jazzy-micro-ros-msgs

• NOVNC_PORT=9005 QGC_PORT=9006 ucrt qix stack install --novnc --qgc --reinstall --gpu greenhorn/

• ssh keys in container

  • docker cp ~/.ssh/. awu335_greenhorn_v0-1-0:/home/ucrt/.ssh/

Fix for QGC disconnect

Prerequisites

You will need 3 separate terminals open inside the greenhorn container.

(Use ucrt enter greenhorn to open new ones as needed).

Terminal 1: The Physics Engine

This starts the simulation world and the ArduPilot firmware.

Bash

ros2 launch greenhorn_bringup sim.launch.py

(Let this run. It will load Gazebo and open the initial ports.)

Terminal 2: The Network Hub

This is the most critical step. We kill the default "dumb" proxy and replace it with our custom "smart" router.