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Remote access
How a session reaches a car through Cloudflare, which routes each car has, and how to get approved for them.
Nothing on a car is open to the internet. Each car keeps an encrypted outgoing tunnel to Cloudflare, and every request reaches the car back down that tunnel, so no router port is forwarded. In front of each route, Cloudflare Access checks your email address against the team list before your browser or SSH client reaches the device. An address that is not on the list only ever sees the sign-in page. A successful sign-in lasts 24 hours.
Get access
- Mention
@it-servicesin Discord with the email address you will sign in with and the reason you need access. Access is granted per person, so a request without a reason waits for one. - Your team lead sends the device username and password in Discord once you are on the list. The dashboard needs only the Cloudflare sign-in; SSH and remote desktop also need the device login.
- Open a route below and sign in with the approved address. The sign-in page offers Google, GitHub or a one-time code sent by email, and any of them works as long as the address matches.
Routes
Both cars have the same three routes, with rb1 for racerbotcar-1 and rb2 for racerbotcar-2. The pit PC, racerbotpitpc, has an SSH route only. The tunnel starts when a device boots and restarts itself if it stops, so a route is live whenever the device is powered on and has internet.
| Route | racerbotcar-1 |
racerbotcar-2 |
racerbotpitpc |
|---|---|---|---|
| SSH in the browser | ssh-rb1.sfuracerbot.ca | ssh-rb2.sfuracerbot.ca | ssh-pitpc.sfuracerbot.ca |
| Remote desktop in the browser | rd-rb1.sfuracerbot.ca | rd-rb2.sfuracerbot.ca | not set up |
| Dashboard | dashboard.sfuracerbot.ca/rb1 | dashboard.sfuracerbot.ca/rb2 | none |
The dashboard watches and tunes a car but cannot drive it: it publishes to no ROS topic, and every autonomous mode still needs a person holding LB on the physical controller. The dashboard page in the workspace docs covers each panel.
Limitations
- The pit PC has no remote desktop route. Use SSH for it.
- Adding or removing a person is a change to the team list in Cloudflare. Nothing on the car changes, and a device login shared with someone off the list does not get them past the sign-in.
- SSH in the browserOpen a terminal on a car or the pit PC from any browser with Cloudflare's browser-rendered SSH, with nothing to install.
- SSH with cloudflaredSet up cloudflared once on your own laptop to SSH into a car or the pit PC from a terminal or VS Code Remote-SSH, with file copying and port forwarding.
- Remote desktopSee and use a car's own screen from a browser, for the graphical tools a terminal cannot show.
- Terminal toolsThe three terminal tools installed on both cars for reading docs, keeping sessions alive and editing files over SSH.