@@ -145,43 +145,43 @@ The robot also has an upper structure with two main compartments:
To power up the robot and make sure everything is ready before operation, please follow the next steps:
\begin{itemize}
\item Make sure the batteries are present, properly connected and charged. See procedure \cite{} for detailed instructions on how to change and charge the batteries if necessary.
\item On the frontal panel shown in Fig. \ref{}, make sure all the switches are on the on or off positions as required, as shown in Fig. \ref{}.
\item On the frontal panel shown in Fig. \ref{img_frontal_pannel}, make sure all the switches are on the on or off positions as required.
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}\vspace{0.5cm}&\textbf{INFO:} For normal operation, at least the on-board computer switch () should be turned on.\\
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}&\textbf{INFO:} For autonomous navigation, the LIDAR 3D swicth () should also be turned on. The depth camera and the IMU are powered by the on-board computer \\
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}&\textbf{INFO:} To power the computers and sensors on the upper structure, both 12V and 5V switches should be turned on.
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}\vspace{0.5cm}&\textbf{INFO:} For normal operation, at least the on-board computer switch (item 1 in Fig. \ref{img_frontal_pannel}) should be turned on.\\
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}&\textbf{INFO:} For autonomous navigation, the LIDAR 3D swicth (item 2 in Fig. \ref{img_frontal_pannel}) should also be turned on. The depth camera and the IMU are powered by the on-board computer \\
\multirow{3}{*}{\includegraphics[width=1cm]{info.png}}&\textbf{INFO:} To power the computers and sensors on the upper structure, both 12V and 5V switches should be turned on (items 3 and 5 respectively in Fig. \ref{img_frontal_pannel}).
\end{tabular}
\end{table}
\item Turn the main power switch () on. If everything is okay, the following things should happen:
\item Turn the main power switch (item 1 in Fig. \ref{img_rear_pannel}) on. If everything is okay, the following things should happen:
\begin{itemize}
\item The green LED on top of each of the required power switches should be on.
\item The red LED on top of the Pioneer2 AT platform should be on.
\item The red LED on top of the Pioneer2 AT platform should be on (item 7 in Fig. \ref{img_pioneer_pannel}).
\item You should hear a steady noise from the two on-board fans.
\item You should hear a beeping sound form the Pioneer2 AT platform.
\item The Pioneer2 AT platform display should show the message shown in fig. \ref{}.
\item The Pioneer2 AT platform display (item 1 in Fig. \ref{img_pioneer_pannel}) should show the message shown in fig. \ref{}.
The numerical value on the bottom left corner of the screen is the motor battery voltage, and it may change depending of the current state of charge of the motor battery.
\item If the upper structure display is connected, it should show the login screen of the Ubuntu Operating System.
\end{itemize}
If the LED on top of the power switches in not on, the corresponding device will not be powered, and therefore it will not work. In this case, please check the following
\begin{itemize}
\item The fuse is okay. Power down the robot following the instructions in section \ref{}. Open the fuse case of the corresponding power switch and check the fuse is okay with the multimeter. If not, replace it and restart this procedure.
\item Problems with the on-board power supply. Power down the robot following the instructions in section \ref{} and contact the laboratory technicians as soon as possible.
\item The fuse is okay. Power down the robot following the instructions in section \ref{sec_shutdown}. Open the fuse case in the frontal panel shown in Fig. \ref{img_frontal_pannel}of the corresponding power switch and check the fuse is okay with the multimeter. If not, replace it and restart this procedure.
\item Problems with the on-board power supply. Power down the robot following the instructions in section \ref{sec_shutdown} and contact the laboratory technicians as soon as possible.
\end{itemize}
If the Pioneer2 AT controller does not boot up properly you may not hear the beeping noise, the red LED may not be on and/or the message shown on the display may be different or non existent. In this case, please check the following
\begin{itemize}
\item The motor battery fuse is okay. Power down the robot following the instructions in section \ref{}. Open the motor fuse case and check the fuse is okay with the multimeter. If not, replace it and restart this procedure.
\item Internal Error. Check the on-board display for any error message. If the display is blank or shows any error message, power down the robot following the instructions in section \ref{} and contact the laboratory technicians as soon as possible.
\item Problems with the on-board power supply. Power down the robot following the instructions in section \ref{} and contact the laboratory technicians as soon as possible.
\item The motor battery fuse is okay. Power down the robot following the instructions in section \ref{sec_shutdown}. Open the motor fuse case (item 6 in Fig. \ref{img_frontal_pannel}) and check the fuse is okay with the multimeter. If not, replace it and restart this procedure.
\item Internal Error. Check the on-board display (item 1 in Fig. \ref{img_pioneer_pannel}) for any error message. If the display is blank or shows any error message, power down the robot following the instructions in section \ref{sec_shutdown} and contact the laboratory technicians as soon as possible.
\item Problems with the on-board power supply. Power down the robot following the instructions in section \ref{sec_shutdown} and contact the laboratory technicians as soon as possible.
\end{itemize}
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}}&\textbf{IMPORTANT:} If you don't hear the steady noise of the fans, it is dangerous to proceed because the temperature inside the root may increase to dangerous levels. It may also indicate some other problems with the on-board power system.
Please, power down the robot following the instructions in section \ref{} and contact the laboratory technicians as soon as possible.
Please, power down the robot following the instructions in section \ref{sec_shutdown} and contact the laboratory technicians as soon as possible.
\end{tabular}
\end{table}
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@@ -209,12 +209,12 @@ The robot has an on-board router that uses DHCP to create a local network in the
\label{tab_reg_computers}
\end{table}
The Ana robot has a monitoring laptop (ana-mon in Table \ref{tab_reg_computers}) already configured to interface with the robot. This procedure assumes the use of this computer to simplify the procedures. However, if a new computer needs to connect to the robot, section \ref{} explains how to do it.
The Ana robot has a monitoring laptop (ana-mon in Table \ref{tab_reg_computers}) already configured to interface with the robot. This procedure assumes the use of this computer to simplify the procedures. However, if a new computer needs to connect to the robot, section \ref{sec_register_new_computer} explains how to do it.
\subsubsection{Register a new computer}
\subsubsection{Register a new computer}\label{sec_register_new_computer}
To register a new computer to connect to the Ana robot, follow the next steps:
\begin{itemize}
\item Send an e-mail to the laboratory technicians at labroboticamobil@iri.upc.edu with the following information:
\item Send an e-mail to the laboratory technicians at \newlinelabroboticamobil@iri.upc.edu with the following information:
\begin{itemize}
\item The reason why it is necessary to add a new computer.
\item The name of the new computer.
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@@ -240,29 +240,29 @@ To register a new computer to connect to the Ana robot, follow the next steps:
\end{tabular}
\end{table}
There are mainly two ways to connect to the robot, connect to the hot-spot created by the robot using a wireless interface (see section \ref{} for instructions on how to do it), or connect the robot using the external ethernet interface (see section \ref{} for instructions on how to do it).
There are mainly two ways to connect to the robot, connect to the hot-spot created by the robot using a wireless interface (see section \ref{sec_wireless_access} for instructions on how to do it), or connect the robot using the external ethernet interface (see section \ref{sec_wired_access} for instructions on how to do it).
It is also possible to work directly with the on-board computer, although not recommended.
\subsubsection{Connect using wireless}
\subsubsection{Connect using wireless}\label{sec_wireless_access}
The wireless connection may be useful to monitor the components of the robot while in operation, but keep in mind that the available bandwidth is limited (may be it is not possible to monitor all the topics in real time), and also that the connection is not reliable (it may be lost depending on environment conditions).
The robot has an on-board router that creates a wireless hot-spot with the ana-wifi SSID. If the computer is already registered, it should connect without any problem, otherwise, check section \ref{} on how to register and setup a new computer.
The robot has an on-board router that creates a wireless hot-spot with the ana-wifi SSID. If the computer is already registered, it should connect without any problem, otherwise, check section \ref{sec_register_new_computer} on how to register and setup a new computer.
If the ana-wifi is not detected, please check the following:
\begin{itemize}
\item Check the router is powered up. Open the rear door of the upper structure and check whether the power on LED (the right most one) is on or off. If it is off, it means the router is not powered up. In this case, check the following:
\begin{itemize}
\item The Green light of the 12V power supply for the upper structure (see Fig. \ref{}) is lit. If it not, open the corresponding fuse case and check the fuse is okay with a multimeter. If not, replace it and restart this procedure.
\item Power reaches the router. Check that the 12V power connector shown in Fig. \ref{} and the router power jack shown in Fig. \ref{} are plugged in. If any of them are disconnected, plug them in and restart this procedure.
\item The power button is on. Locate the power button in the upper right part of the router (besides the USB connector) as shown in Fig. \ref{}, and check whether it is pressed (Fig. \ref{}) or not (Fig. \ref{}). Press it if necessary and restart the procedure.
\item The Green light of the 12V power supply for the upper structure (item 3 in Fig. \ref{img_frontal_pannel}) is lit. If it not, open the corresponding fuse case and check the fuse is okay with a multimeter. If not, replace it and restart this procedure.
\item Power reaches the router. Check that the 12V power connector shown as item 2 in Fig. \ref{img_tower_frontal} and the router power jack shown in Fig. \ref{} are plugged in. If any of them are disconnected, plug them in and restart this procedure.
\item The power button is on. Locate the power button in the upper right part of the router (besides the USB connector) as shown in Fig. \ref{}, and check whether it is pressed or not. Press it if necessary and restart the procedure.
\item If all the above fail, contact the laboratory technicians as soon as possible.
\end{itemize}
\item Disable and enable the wi-fi interface on the external computer, wait for the list of available connections to be populated, and restart this procedure.
\item If all the above fail, contact the laboratory technicians as soon as possible.
\end{itemize}
\subsubsection{Connect using a cable}
\subsubsection{Connect using a cable}\label{sec_wired_access}
The wired connection may be useful for testing and also when the on-board computer does not provide the desired performance for the algorithms.
\begin{table}[h]
...
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@@ -274,10 +274,10 @@ The wired connection may be useful for testing and also when the on-board comput
To connect to the robot using a wired connection, please follow the next steps:
\begin{itemize}
\item Connect one end of the Ethernet cable to any available port on the router.
\item Connect the other end of the cable to the external computer. The router on the robot should provide an IP address. To do that the external computer has to be registered. See section \ref{} for instructions on how to do it.
\item Connect the other end of the cable to the external computer. The router on the robot should provide an IP address. To do that the external computer has to be registered. See section \ref{sec_register_new_computer} for instructions on how to do it.
\end{itemize}
\subsubsection{Login to the on-board computers}
\subsubsection{Login to the on-board computers}\label{sec_login}
Both on-board computers have two users available:
\begin{itemize}
\item\textbf{irilab} with root privileges. This is the user used by the laboratory technicians to update and maintain the robot and it is password protected. This user must not be used.
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@@ -292,10 +292,10 @@ or
%ssh ana@192.168.0.100
depending on whether the association between IP and hostname has been done or not (see step on section \ref{}). If the external computer is properly registered (see section \ref{}) it should not ask for a password.
depending on whether the association between IP and hostname has been done or not (see step on section \ref{sec_register_new_computer}). If the external computer is properly registered it should not ask for a password.
\subsection{Install and update software}
As introduced in section \ref{}, the default user on the on-board computer does not have root privileges, so it is not possible for user to install new software.
As introduced in section \ref{sec_login}, the default user on the on-board computer does not have root privileges, so it is not possible for user to install new software.
Basic system maintenance, update and upgrade will be performed periodically by laboratory technicians. If some problem is detected or there is a critical upgrade, please contact the laboratory technicians.
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@@ -318,7 +318,7 @@ If, during the install process, any problem is detected, it will be reported bac
ROS packages do not require root privileges to be installed, but the following procedure is recommended to install and update them:
\begin{itemize}
\item Within IRI, connect an ethernet cable between the top ethernet connector of the upper structure (shown in Fig. \ref{}) and any RJ45 walll connector. This will provide internet access from the local IRI network.
\item Within IRI, connect an ethernet cable between the top ethernet connector of the upper structure (shown in Fig. \ref{}) and any RJ45 wall connector. This will provide internet access from the local IRI network.
\item Ouside IRI, connect a 3G dongle to the USB connector of the upper structure (shown in Fig. \ref{}). This will provide internet access through the 3G/4G network.
\item Locate and move to the standard ROS workspace in the home folder (iri-lab/iri\_ws).
\item To install new ROS packages, clone all the necessary ROS packages to the src folder inside the workspace. Once done, execute the following command to update the hiden rosinstall file with the new packages.
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@@ -327,7 +327,7 @@ ROS packages do not require root privileges to be installed, but the following p
% wstool up
\end{itemize}
When performing upgrades or tests on existing nodes, it is recommended to create an overlayed workspace in order to keep the original one completely operational. To do that, follow the instructions here ()%ROS tutorial
When performing upgrades or tests on existing nodes, it is recommended to create an overlayed workspace in order to keep the original one completely operational. To do that, follow the instructions here \cite{}. %ROS tutorial
\subsection{Start ROS}
To launch all the basic nodes required to operate the robot using ROS, execute the following command:
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@@ -360,8 +360,8 @@ To power down the robot, if the computer is on, please follow the next steps:
\item Log into the computer, if you are not already logged in.
\item Close any running applications.
\item Shut down the computer with the following command:
sudo halt -p
Alternatively, you can also shut down the computer from the .
%sudo halt -p
Alternatively, you can also shut down the computer from the desktop.
\item Wait until the screen turns off.
\end{itemize}
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@@ -371,7 +371,7 @@ Alternatively, you can also shut down the computer from the .
\end{tabular}
\end{table}
When the computer is already powered down, switch off the main power switch (). All the LEDs should turn off and the noise of the fans should stop immediately.
When the computer is already powered down, switch off the main power switch (item 1 in Fig. \ref{img_rear_pannel}). All the LEDs should turn off and the noise of the fans should stop immediately.
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
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@@ -381,8 +381,7 @@ When the computer is already powered down, switch off the main power switch ().
\begin{thebibliography}{9}
\bibitem{ana_how_to}
Ana robot GitLab How to page: \url{https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to}
Ana robot GitLab How to page: \newline\url{https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_how_to}
