Calder (Cognitive and Affective Legged Device for Environmental Reasoning) Robot
Turning On
- Get a blue battery with velcro patches and align the velcro
- Grab and connect the little alarm to the battery using the other white end. With the clock facing you, the black wire should be on the far left
- Connect to power with the yellow cable
- Flip silver switch
Connecting
- Use the middle computer in the very back row by the printers, or lovelace
- Open 2 terminals
- Terminal 1 (Map)
- ssh ubuntu@ubuntu-pi-rhoeby3
- Yes (if new user)
- Password: rhoeby001
- ./rhoeby_init.sh
- Hit enter after everything loads
- ./rhoeby_mapping.sh
- Terminal 2 (Control)
- ssh to ubuntu-pi-rhoeby3 again
- source /opt/ros/kinetic/setup.bash
- export ROS_MASTER_URI=http://ubuntu-pi-rhoeby3:11311
- On a lovelace terminal
- source /opt/ros/kinetic/setup.bash
- export ROS_MASTER_URI=http://ubuntu-pi-rhoeby3:11311
- rosrun rviz rviz
- Maximize the window
- In the bottom left corner, ‘Add’ by ‘topic’ ‘Laser Scanner’
- ‘Add’ ‘Map’ by ‘topic’
- ‘Add’ ‘Robot’ under ‘display’
Movement
- Use arrow keys
- Up = forward
- Down = backward
- Right and left = turning
- Space = stop
Shutting Down
- Save window before closing
- In Terminal 1, type: q
- sudo shutdown -h now
- Give 30s to shut down
- Switch the robot off
Charging Battery
- Plug the battery into the charger using the yellow end
- Put the tiny white end in the 3S slot on the side of the charger
- Click the red button until the flashing light is on Lipo
- Hold down the button until the light is solid red, or stops flashing red and green
Tips
- When viewing the Map, the green block on the Robot is the back
- When mapping, the robot will hit stuff
- On the physical robot, the front is the clear box