On a local computer (which runs ROS Indigo), prepare three terminal tabs for the following machines:

• alan1 (c1 of PR2)
• alan2 (c2 of PR2)
• the local computer

First of all, connect to alan1.

ssh demos@alan1

Then, open a new screen with the following commands.

roscd sbpl_demos
screen -c screen_config/screenrc_alan1

Each tab of screen should have the required command to run on alan1.

Check for additional comments on each screen tab, and run the commands in the order of screen tabs.

Do the same things but for alan2.

ssh demos@alan2
roscd sbpl_demos
screen -c screen_config/screenrc_alan2

Open a new screen with the following commands.

roscd sbpl_demos
screen -c screen_config/screenrc_tatooine

As a side note, set up the sytem time to California loal time (PST or PDT), just like PR2, to avoid any issues related to tf buffer.

You can also use chrony to syncing your computer to alanbase.

• Add server alanbase minpoll 0 maxpoll 5 maxdelay 0.05 to your /etc/chrony/chrony.conf
• Restart chrony with invoke-rc.d chrony restart
• Check time offset with ntpdate -q alanbase