ZeroTier VPN Install

We use ZeroTier to connect remotely to Autonomy Park assets (computers, robots, etc.). ZeroTier is one of the few VPN services that allows for multicast, which lets us publish and subscribe to ROS topics when we are not at the park.

To install ZeroTier, run

curl -s https://install.zerotier.com | sudo bash

Once ZeroTier is installed, run systemctl status zerotier-one to ensure that ZeroTier is running. If it is not running, enter the command sudo systemctl start zerotier-one. Next, connect the Autonomy Park network. Run

sudo zerotier-cli join $NETWORK

where $NETWORK is the placeholder for the Autonomy Park network ID. It should return 200 join OK. The network ID can be found on the ZeroTier dashboard. Do not share this network ID.

Once you successfully join the network, navigate to the ZeroTier dashboard on the web and find the member that joined most recently. Click the "Edit" button, name your computer (be descriptive). Thne, check the selection box and click "Authorize".

Warning

If your local network uses the subnet 192.168.1.XXX you will run into IP conflicts. We are working on changing this.

Congrats! You are now connected to the Autonomy Park. When you wish to connect/disconnect from ZeroTier, run sudo systemctl start zerotier-one or sudo systemctl stop zerotier-one, respectively.