--apt-get install lsof
--Have control message-passing infrastructure working between rover and seykhl.  On vader-rover, emperor 'calls home' to open a socket to seykhl and then listens for commands on that socket.  Currently have start_cameras and stop_cameras working (had to make some tweaks to toollib-camera.cpp to explicitly close sockets to get cameras to start again after being stopped--previously that had been getting taken care of when I terminated run_cameras with a SIGINT).  Next working on getting pan and tilt to work from right thumb stick.