> For the complete documentation index, see [llms.txt](https://directdrivetech.gitbook.io/development-manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://directdrivetech.gitbook.io/development-manual/software-api/environment-configuration.md).

# Environment Configuration

This section describes how to configure the secondary development compilation environment.

* After inserting the Debug data cable into the DBG port, connect it to the computer. 
* After completing the wiring, open the command terminal and enter `ssh root@192.168.55.1` to log in.
* Configure the WIFI connection either through the command line or through the host (you can learn about it in the manual).

{% hint style="info" %}
If use command line, you can enter this command

`nmcli dev wifi connect <wifi name> password <password>`
{% endhint %}

* Once the WIFI connection is successful, use the `docker pull` command to download the Ubuntu

`If connected Success will return like this:`

`Device 'wlan0' successfully activated with 'a43402c8-b98d-443a-be61-e19484882a65'.`

`docker pull`[`registry.cn-hangzhou.aliyuncs.com/ddt_robot/nvidia-ubuntu`](http://registry.cn-hangzhou.aliyuncs.com/ddt_robot/nvidia-ubuntu)

* After the download is complete, proceed with the environmental configuration. You can open the two configuration files `/lib/systemd/system/tita-vision.service` and `/lib/systemd/system/tita-bringup.service`, and modify the two variables `Environment="ROS_LOCALHOST_ONLY=0"`; the base port number: 7400.
* After the environment is configured, restart the Docker to compile your developed ROS2 code inside the Docker.