3.5 KiB
Uh Oh
uhoh --- Notes, docs, scripts for Comma AI Three devkit.
Comma AI Three is hardware to connect to a vehicle for use with
open source openpilot AI for "self-driving" cars.
Docs
See docs/ directory for more info.
Setup
The default OpenPilot setup requires having accounts with proprietary services. This can be worked around.
Setup SSH Without Proprietary Service on Comma Three
Here is HOWTO connect to a Comma Three device without using proprietary services.
The official CommaAI SSH wiki docs are here, but they note they are not for the current version of OpenPilot:
The CommaAI proxy that OpenPilot uses is, sadly, github. This is to be avoided. Another set of docs here:
The above docs are reference, but not how it will be performed below.
The hostname used will be tici as that is what the device is named upstream.
This is most easily done with a laptop or similar on the same wifi network as the Comma Three.
This needs to be done on a new device, or a device that has been reset
to factory shipping. When the device boots up, go through all the initial
steps to get it connected to the Internet via wifi. Stop at the step
that reads Choose Software to Install.
At this point, the Comma Three is on the wifi network, and SSH is running with a shared root ssh key by default. Get the device's IP address from DHCP logs on the DHCP server (e.g. router/firewall).
On the laptop, set up ~/.ssh/config thusly, using the device's IP from DHCP
in place of example 192.168.1.100 below. Either port 22 or port 8022
can be used, the device's SSH config has it listening on both:
Host tici
User comma
Hostname 192.168.1.100
Identityfile ~/.ssh/key.pem
Port 22
You need to get that SHARED ROOT SSH KEY from github to log into the account:
wget -O ~/.ssh/key.pem https://raw.githubusercontent.com/commaai/openpilot/master/tools/ssh/id_rsa
Then make sure your SSH permissions are happy:
chmod 700 ~/.ssh
chmod 600 ~/.ssh/key.pem ~/.ssh/config
Once that is set up, you should be able to SSH into the device thusly:
ssh tici
On the device, add your ssh public keys, at the comma@tici:~$ prompt:
mkdir ~/.ssh
chmod 700 ~/.ssh/
Copy over laptop keys a variety of ways, such as from the laptop:
scp -p ~/.ssh/id_ed25519.pub tici:.ssh/authorized_keys
Note: Doing the OpenPilot install removes these keys, apparently.
Notes on SSH keys before OpenPilot is installed:
root@tici:~# grep ^AuthorizedKeysFile /etc/ssh/sshd_config
AuthorizedKeysFile /data/params/d/GithubSshKeys
root@tici:~# cat /data/params/d/GithubSshKeys
from="10.0.0.0/8,172.16.0.0/12,192.168.0.0/16" ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC+iXXq30Tq+J5NKat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXBt6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCtZ+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZacEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt61OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJrO4uymCJ public
Another way to do this would be to hijack DNS on your own wifi to intercept the Comma Three's connection to github, then redirect the connection to your own server. It depends if it barfs on the SSL or not.
Unofficial
This repository, documentation and code is unofficial, unaffiliated with Comma AI.
License
GPLv3+.
Copyright (C) 2022, Jeff Moe