LeKiwi 고정 IP 세팅 및 무선 연결

ssh roboseasy@<Pi IP>

sudo nano /etc/netplan/50-cloud-init.yaml

network:
  version: 2
  ethernets:
    eth0:
      optional: true
      dhcp4: true

nano ~/clone_init.sh

#!/usr/bin/env bash
# SD 카드 복제 후 개체 초기화 스크립트 (로봇 한 대당 한 번만 실행)
# - 호스트명 변경 + machine-id/SSH 호스트키 재생성 (복제 개체 충돌 방지)
# - 로봇 번호 저장: 부팅마다 wlan0이 DHCP로 받은 서브넷의 .(200+N)을 보조 주소로 추가
#   예) 공유기가 192.168.0.x면 192.168.0.207, 192.168.1.x면 192.168.1.207
# - mDNS로 <호스트명>.local 접속도 가능 (avahi-daemon 필요)
# 와이파이 설정은 set_wifi.sh로 별도 실행
# 사용법: sudo ./clone_init.sh <새_호스트명> <로봇번호(1~54)>
#   예) sudo ./clone_init.sh lekiwi07 7
set -e

NETPLAN_FILE=/etc/netplan/50-cloud-init.yaml
HOOK_FILE=/etc/networkd-dispatcher/routable.d/50-kit-ip

if [ "$(id -u)" -ne 0 ]; then
        echo "error: run with sudo"
        exit 1
fi
if [ -z "$1" ] || [ -z "$2" ]; then
        echo "Usage: sudo ./clone_init.sh <new_hostname> <kit_number>"
        echo "  e.g. sudo ./clone_init.sh lekiwi07 7"
        exit 1
fi

NEW_HOSTNAME="$1"
KIT_NUMBER="$2"

echo "[clone_init] setting hostname: $NEW_HOSTNAME"
# cloud-init이 부팅마다 user-data의 호스트명으로 되돌리는 것 방지 (실측)
echo 'preserve_hostname: true' > /etc/cloud/cloud.cfg.d/99_preserve_hostname.cfg
hostnamectl set-hostname "$NEW_HOSTNAME"
if grep -q '^127.0.1.1' /etc/hosts; then
        sed -i "s/^127.0.1.1.*/127.0.1.1 $NEW_HOSTNAME/" /etc/hosts
else
        echo "127.0.1.1 $NEW_HOSTNAME" >> /etc/hosts
fi

echo "[clone_init] regenerating machine-id"
rm -f /etc/machine-id /var/lib/dbus/machine-id
systemd-machine-id-setup

echo "[clone_init] regenerating ssh host keys"
rm -f /etc/ssh/ssh_host_*
dpkg-reconfigure -f noninteractive openssh-server

echo "[clone_init] checking netplan has no static address"
if grep -qE 'addresses:.*192\.168\.' "$NETPLAN_FILE"; then
        echo "error: $NETPLAN_FILE still has a static address."
        echo "       remove 'addresses:' / 'routes:' / 'nameservers:' and set 'dhcp4: true'"
        exit 1
fi

echo "[clone_init] saving kit number: $KIT_NUMBER"
echo "$KIT_NUMBER" > /etc/kit-number

echo "[clone_init] installing kit-ip hook: $HOOK_FILE"
mkdir -p "$(dirname "$HOOK_FILE")"
cat > "$HOOK_FILE" <<'EOF'
#!/usr/bin/env bash
# wlan0이 DHCP 주소를 받은 뒤, 같은 서브넷의 .(200+로봇번호)를 보조 주소로 추가
[ "$IFACE" = "wlan0" ] || exit 0
KIT=$(cat /etc/kit-number 2>/dev/null) || exit 0

# 예: 192.168.1.37/24
DHCP_ADDR=$(ip -4 -o addr show dev wlan0 | awk '/dynamic/{print $4; exit}')
[ -n "$DHCP_ADDR" ] || exit 0

PREFIX=${DHCP_ADDR#*/}      # 24
BASE=${DHCP_ADDR%.*}        # 192.168.1
ip addr replace "$BASE.$((200 + KIT))/$PREFIX" dev wlan0
EOF
chmod +x "$HOOK_FILE"
systemctl enable --now networkd-dispatcher >/dev/null 2>&1 || true

if ! command -v avahi-daemon >/dev/null 2>&1; then
        echo "[clone_init] warning: avahi-daemon not installed. '$NEW_HOSTNAME.local' will not work."
        echo "             run: sudo apt install -y avahi-daemon"
fi

echo "[clone_init] done."
echo "[clone_init] next: sudo ./set_wifi.sh <SSID> <PASSWORD>  then  sudo reboot"
echo "[clone_init] after reboot:"
echo "  ssh roboseasy@$NEW_HOSTNAME.local"
echo "  or ssh roboseasy@<현재 서브넷>.$((200 + KIT_NUMBER))  (e.g. 192.168.0.$((200 + KIT_NUMBER)) / 192.168.1.$((200 + KIT_NUMBER)))"

chmod +x ~/clone_init.sh
bash -n ~/clone_init.sh && echo OK

nano ~/set_wifi.sh

#!/usr/bin/env bash
# 와이파이 설정 스크립트 (연결할 와이파이가 바뀔 때마다 다시 실행 가능)
# - wlan0을 DHCP로 붙이고, 부팅 시 훅이 같은 서브넷의 .(200+로봇번호)를 추가함
# 사용법: sudo ./set_wifi.sh <SSID> <비밀번호>
#   예) sudo ./set_wifi.sh MyWiFi mypassword
set -e

NETPLAN_FILE=/etc/netplan/50-cloud-init.yaml

if [ "$(id -u)" -ne 0 ]; then
        echo "error: run with sudo"
        exit 1
fi
if [ -z "$1" ] || [ -z "$2" ]; then
        echo "Usage: sudo ./set_wifi.sh <SSID> <PASSWORD>"
        exit 1
fi

SSID="$1"
PASSWORD="$2"

# cloud-init이 다음 부팅에 netplan을 덮어쓰지 않도록 고정
echo 'network: {config: disabled}' > /etc/cloud/cloud.cfg.d/99-disable-network-config.cfg

echo "[set_wifi] writing $NETPLAN_FILE for SSID: $SSID"
cat > "$NETPLAN_FILE" <<EOF
network:
  version: 2
  ethernets:
    eth0:
      optional: true
      dhcp4: true
  wifis:
    wlan0:
      optional: true
      dhcp4: true
      regulatory-domain: "KR"
      access-points:
        "$SSID":
          password: "$PASSWORD"
EOF
chmod 600 "$NETPLAN_FILE"

echo "[set_wifi] applying"
netplan apply
sleep 5

echo "[set_wifi] wlan0 addresses:"
ip -4 -o addr show dev wlan0 | awk '{print "  " $4}'
echo "[set_wifi] done. ssh roboseasy@$(hostname).local"

chmod +x ~/set_wifi.sh
bash -n ~/set_wifi.sh && echo OK

sudo apt install -y avahi-daemon
systemctl is-active avahi-daemon

sudo ~/clone_init.sh lekiwi07 7

sudo ~/set_wifi.sh <SSID> <PW>

sudo ~/set_wifi.sh MyWiFi mypassword

iw dev wlan0 link

hostname -I

10.42.0.62 192.168.0.177 192.168.0.207

ssh roboseasy@192.168.0.207
ssh roboseasy@lekiwi07.local
ssh roboseasy@192.168.0.177

sudo reboot