RaposaNgSoftware: Difference between revisions

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== Usage ==
== Usage ==


The robot is switched on/off using the two buttons. DO NOT switch-off the robot before performing a clean shutdown on the onboard computer. Whenever possible, connect it to the external power. This will not charge the batteries, but will not draw power from them.
RAPOSA-NG uses two different battery sources for the electronics and motors, respectively. '''Please assure that both batteries have a buzzer attached while connected to RAPOSA-NG, and make sure that both batteries and Buzzers are detached from one another after usage.'''


The communication with the onboard computer should be done using an Ethernet cable (crossed) and ssh. The network configuration is the following:
Use the red button to power on/off the motors, and the green button to power on/off the electronics using batteries. The gray button is used to power on/off the CPU, and it can only be powered if either the green button is on with batteries attached, or an external feed is being used.
* IP = 192.168.1.2
* Netmask = 255.255.255.0
(so you should use a different static IP in your computer)
 
And the shell access via ssh requires the following credentials:
* Username = scout
* Password = sistemasautonomos


=== Packages ===
=== Packages ===

Revision as of 10:39, 16 October 2013

File:Icon raposa.png
RAPOSA-NG

About

This page presents instructions and software for our customized version of RAPOSA-NG.

For more information, please use the redmine page: http://rm.isr.ist.utl.pt/projects/raposa/wiki/Main_Page

Access

To gain access to RAPOSA-NG session, svn network, etc:

Username: raposang
Password: raposa2011 

Software

All software needed for RAPOSA-NG control is preinstalled in RAPOSA-NG and stored in svn.

To download latest trunk version, please use the following command:

svn co svn://svn.isr.ist.utl.pt/raposa/raposang/trunk/raposang_ros /home/raposa/ros

Usage

RAPOSA-NG uses two different battery sources for the electronics and motors, respectively. Please assure that both batteries have a buzzer attached while connected to RAPOSA-NG, and make sure that both batteries and Buzzers are detached from one another after usage.

Use the red button to power on/off the motors, and the green button to power on/off the electronics using batteries. The gray button is used to power on/off the CPU, and it can only be powered if either the green button is on with batteries attached, or an external feed is being used.

Packages

  • scout_drivers -- contains the main drivers
  • scout_msgs -- defines the message types employed by the drivers
  • joy -- a copy of the joy package compatible with the Scout software

Nodes

  • motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
  • sensors -- interfaces the sonars (currently disabled) and the battery sensors
  • joydrive -- node to control the robot using a gamepad
  • keydrive -- node to control the robot using the keyboard

Subscribed topics

  • /scout/motion (ScoutMotionMsg) -- reference velocities for each wheel (velocity_left and velocity_right) in raw units and an enable flag

Published topics

  • /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
  • /scout/sonars (ScoutSonarsMsg) -- (DISABLED BY DEFAULT) array of sonar readings
  • /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

Examples

An example of a launch file to launch all scout nodes (locally)

<launch>
	<node name="motors"   pkg="scout_driver"  type="motors"/>
	<node name="sensors"  pkg="scout_driver"  type="sensors"/>
	<node name="joy"      pkg="joy"           type="joy_node"/>
	<node name="joydrive" pkg="scout_driver"  type="joydrive"/>
</launch>

NOTE: you need to modify these file in order to launch the nodes remotely.