Secure Shell Protocol (SSH)

The Secure Shell Protocol is a cryptographic network protocol for operating network services securely over an unsecured network.

Make sure to set up your ssh keys, Based on Public-Key Cryptography

We can ssh from the terminal by running, for example

ssh <username>

To copy files, use scp <source> <destination>


Instead of having to write the password every time you SSH, or having to manually copy paste, you can do

ssh-copy-id user@IP

Then, later, you can just

ssh-copy-id user@IP

scp -r /mnt/wato-drive2/perception_datasets/traffic_light_1

BE CAREFUL, this breaks for an existing file if the time does not align properly. use sshpass to include the password into it.

sshpass -p 'f1tenthUW!' scp /Users/stevengong/Projects/f1tenth_ws/nodes/pure_pursuit/src/pure_pursuit_node.cpp f1tenth-uw@
# from local to remote
scp ./e7_floor5_clean.pgm f1tenth-uw@
scp /Users/stevengong/Projects/f1tenth_ws/nodes/pure_pursuit/src/pure_pursuit_node.cpp f1tenth-uw@
scp -r  ./video_frames s36gong@trpro-ubuntu1.watocluster.local:/home/s36gong/Musashi-AI
# From remote to local
scp f1tenth-uw@<remote_file> .
# For directories, it is the same syntax but add the -r flag
scp -r /path/to/directory user@machine_b_ipaddress:/path/to/destination
scp -r user@machine_a_ipaddress:/path/to/directory /path/to/destination
scp f1tenth-uw@ .

SSH Command options

Some of the most important command-line options for the OpenSSH client are:

  • -1¬†Use protocol version 1 only.
  • -2¬†Use protocol version 2 only.
  • -4¬†Use IPv4 addresses only.
  • -6 Use IPv6 addresses only.
  • ¬†-f¬† run the¬†ssh¬†command to run in the background
  • -N¬† do not to execute a remote command.
  • -C¬†Use data compression
  • -c cipher_spec¬†Selects the cipher specification for encrypting the session.
  • -D¬†**[bind_address:]**port¬†Dynamic application-level port forwarding. This allocates a socket to listen to port on the local side. When a connection is made to this port, the connection is forwarded over the secure channel, and the application protocol is then used to determine where to connect to from the remote machine.
  • -E log_file¬†Append debug logs to log_file instead of standard error.
  • -F configfile¬†Specifies a per-user configuration file. The default for the per-user configuration file is ~/.ssh/config.
  • -g¬†Allows remote hosts to connect to local forwarded ports.
  • -i identity_file¬†A file from which the¬†identity key¬†(private key) for¬†public key authentication¬†is read.
  • -J¬†[user@] host[:port]¬†Connect to the target host through Jump Host
  • -l login_name¬†Specifies the user to log in as on the remote machine.
  • -p port¬†Port to connect to on the remote host.
  • v¬†Verbose mode.
  • -X / -x to¬†enable / disable X11 forwarding.

Different SSH Keys

ssh-rsa vs.

When it comes down to it, the choice is between RSA 2048/4096 and Ed25519 and the trade-off is between performance and compatibility.

RSA is universally supported among SSH clients while EdDSA performs much faster and provides the same level of security with significantly smaller keys.