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# iri_ana_how_to

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## Description 
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<details>
  <summary>Show more</summary>
  
  The Ana robot is based on a Pioneer 3 AT platform which has been updated with:

  * A [fanless mini PC i7 computer](http://www.fit-pc.com/web/products/ipc3/)
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  * Custom 250Wh motor battery from AMOPACK with monitoring electronics.
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  * Custom 500Wh payload battery from AMOPACK with monitoring electronics.
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  The expected autonomy of the robot is around 5 hours, and it can operate on its
  own with the embedded computer.
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  In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot 
  provides:
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  * A low cost IMU sensor [Adafruit BNO055](https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor)
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  * A 3d Lidar [Velodyne VLP-16 PUCK](https://velodynelidar.com/vlp-16.html)
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  * A depth camera [Intel RealSense D435](https://realsense.intel.com/stereo/)
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  All theses sensors are mainly used for navigation and mapping purposes. 
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  The upper part of the robot provides additional sensors and computers to detect 
  and track people in urban environments. These sensors include:
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  * 
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  and are placed on top of a custom pan&tilt platform.
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  A fully featured gazebo model is also provided to test the robot in simulation. 
</details>
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## Procedures
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Here are the basic precedures to use the robot. Please follow them carefully 
whenever you need to use the robot.

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 * Startup, operation and shutdown: _pending to generate pdf_
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 * [Battery management](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to/-/jobs/artifacts/latex/file/procedures/battery_management/battery_management.pdf?job=latex_to_pdf): _pending fix pdf link_
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# Tutorials
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* [Real robot](docs/tutorials/real_robot.md)
* [Simulation](docs/tutorials/simulation.md)
* [Teleoperation](docs/tutorials/teleoperation.md)
* [Navigation](docs/tutorials/navigation.md)
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# Developers
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* [Installation](docs/installation.md)
* [Configuration](docs/configuration.md)
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* [ROS interface](docs/ros_interface.md)