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Commit bf02ef13 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the startup, operation and shutdown procedure.

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procedures/startup_operation_shutdown/startup_operation_shutdown.tex
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......@@ -7,6 +7,7 @@
\graphicspath{ {./images/} {../common_images/} }
\usepackage{wrapfig}
\usepackage{multirow}
\usepackage{url}
%opening
\title{Ana Start up, operation and shut down procedures}
......@@ -17,12 +18,12 @@
\maketitle
\section{Description}
This procedure describes the procedures that must be followed when starting up, operating and shutting down the Ana robot\ref{}.
This procedure describes the procedures that must be followed when starting up, operating and shutting down the Ana robot \cite{ana_how_to}.
This document includes three procedures, one to set the robot in a ready state, in section \ref{}, a second one that includes all the things to take into account while the robot is in operation, in section \ref{}, and the last one to shut the robot down after using it, in section \ref{}.
This document includes three procedures, one to set the robot in a ready state, in section \ref{sec_startup}, a second one that includes all the things to take into account while the robot is in operation, in section \ref{sec_operation}, and the last one to shut the robot down after using it, in section \ref{sec_shutdown}.
\section{Preliminary considerations}
The Ana robot is an upgraded version of a Pioneer2 AT platform (see \ref{} for a detailed description). The main improvements are:
The Ana robot is an upgraded version of a Pioneer2 AT platform (see \cite{ana_how_to} for a detailed description). The main improvements are:
\begin{itemize}
\item New power system using two Li-ion batteries, one for the motors and controller, and the other for the payload.
\item New Intel i7 embedded computer.
......@@ -35,8 +36,15 @@ The Ana robot is an upgraded version of a Pioneer2 AT platform (see \ref{} for a
A general description and layout of the Ana robot is presented in this section.
Fig. \ref{} shows the frontal panel of the Ana robot. The elements enumerated in this figure are described next:
\begin{itemize}
\begin{figure}[h]
\centering
\includegraphics[width=\textwidth]{frontal_pannel.jpg}
\caption{Detail of the frontal pannel of the Ana robot.}
\label{img_frontal_pannel}
\end{figure}
Fig. \ref{img_frontal_pannel} shows the frontal panel of the Ana robot. The elements enumerated in this figure are described next:
\begin{enumerate}
\item Power switch and fuse for the internal computer.
\item Power switch and fuse for the LIDAR 3D sensor.
\item Power switch and fuse for the upper structure 12 V output.
......@@ -46,32 +54,83 @@ Fig. \ref{} shows the frontal panel of the Ana robot. The elements enumerated in
\item Payload battery fuse and charge connector.
\item 6 sonars.
\item 5 bumpers
\end{itemize}
\end{enumerate}
Each of the pairs of power switch and fuse also have an LED which shows the current state of the corresponding device.
Fig. \ref{} shows the rear panel of the Ana robot. The elements enumerated in this figure are described next:
\begin{itemize}
\begin{figure}[h]
\centering
\includegraphics[width=\textwidth]{rear_pannel.jpg}
\caption{Detail of the rear pannel of the Ana robot.}
\label{img_rear_pannel}
\end{figure}
Fig. \ref{img_rear_pannel} also shows the position of the Intel RealSense D-435 used for navigation.
Fig. \ref{img_rear_pannel} shows the rear panel of the Ana robot. The elements enumerated in this figure are described next:
\begin{enumerate}
\item Main power switch.
\item Battery door.
\item Battery compartment door.
\item 6 sonars.
\item 5 bumpers
\end{itemize}
\end{enumerate}
Fig. \ref{} shows the standard Pioneer2 AT control and status panel. The elements enumerated in this figure are described next:
\begin{itemize}
\item
\end{itemize}
\begin{figure}[h]
\centering
\includegraphics[width=0.5\textwidth]{pioneer_pannel.jpg}
\caption{Detail of the Pioneer pannel of the Ana robot.}
\label{img_pioneer_pannel}
\end{figure}
Fig. \ref{img_pioneer_pannel} shows the standard Pioneer2 AT control and status panel. The elements enumerated in this figure are described next:
\begin{enumerate}
\item LCD display were the current status of the platform is displayed.
\item Motors button.
\item Reset button. Pressing this buttons, reset the on-board controller, but not the embedded computer.
\item Program flash switch. See procedure \cite{} for more details on the operation of this switch.
\item Serial port.
\item RX TX LEDS. This LED's show communication activity (if any) between the on-board controller and the embedded computer.
\item Power LED. This LED shows whether the platform is powered up or not.
\end{enumerate}
The main interface area (both power and communications) with the upper structure is located at the central part of the pioneer2 AT platform. Fig. \ref{}, \ref{} and \ref{} show the frontal, rear and lateral panels respectively of this structure. The elements enumerated in this figure are described next:
\begin{itemize}
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} Pressing the Motors button will start a test procedure for the motors. This procedure moves the platform forward and backward and turns it left and right. When executing this procedure, be sure the robot has enough space around it to move. It requires pressing the button for a second time to actually start it, so it can be aborted by pressing the reset button.
\end{tabular}
\end{table}
\begin{figure}[ht]
\centering
\begin{subfigure}[b]{0.61\textwidth}
\includegraphics[width=\textwidth]{tower_frontal.jpg}
\caption{Frontal view.}
\label{img_tower_frontal}
\end{subfigure}
\hfill
\begin{subfigure}[b]{0.29\textwidth}
\includegraphics[width=\textwidth]{tower_lateral.jpg}
\caption{Lateral view}
\label{img_tower_lateral}
\end{subfigure}
\begin{subfigure}[b]{0.6\textwidth}
\includegraphics[width=\textwidth]{tower_rear.jpg}
\caption{Rear view}
\label{img_tower_rear}
\end{subfigure}
\caption{Detail of the the main interface area with the upper part of the Ana robot.}
\end{figure}\label{img_interface_tower}
The main interface area (both power and communications) with the upper structure is located at the central part of the pioneer2 AT platform. Fig. \ref{img_interface_tower} show the frontal, lateral and rear views of this structure. Fig. \ref{img_interface_tower} also show the position of the Velodyne PUCK LIDAR sensor. The elements enumerated in this figure are described next:
\begin{enumerate}
\item HDMI display connector.
\item 12V power connector.
\item 5V power connector.
\item Ethernet connector.
\item USB 3.0 Connector.
\item SMA connectors for WiFi antennas.
\item Two USB 3.0 Connectors.
\item LIDAR 3D connector (Ethernet and power).
\item Speaker output and microphone input.
\end{itemize}
\item Speaker output.
\item Microphone input.
\end{enumerate}
The robot also has an upper structure with two main compartments:
\begin{itemize}
......@@ -82,7 +141,7 @@ The robot also has an upper structure with two main compartments:
\end{itemize}
\end{itemize}
\section{Startup}
\section{Startup}\label{sec_startup}
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.
......@@ -128,7 +187,7 @@ If the Pioneer2 AT controller does not boot up properly you may not hear the bee
\end{itemize}
\section{Operation}
\section{Operation}\label{sec_operation}
\subsection{Connect to the robot}
The robot has an on-board router that uses DHCP to create a local network in the 192.168.0.X range, but it only assigns IP to the registered computers. Table \ref{tab_reg_computers} shows the IP assignment of all registered computers.
......@@ -295,7 +354,7 @@ The ROS packages that are launched by default are listed here:
% calibrate the touchscreen (external procedure)
% calibrate the internal IMU.
\section{Shut down}
\section{Shut down}\label{sec_shutdown}
To power down the robot, if the computer is on, please follow the next steps:
\begin{itemize}
\item Log into the computer, if you are not already logged in.
......@@ -319,5 +378,12 @@ When the computer is already powered down, switch off the main power switch ().
\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}} & \textbf{IMPORTANT:} Once the robot is powered off it can be moved manually, however do not move it too fast because it may momentary turn on and stop the motors.
\end{tabular}
\end{table}
\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}
\end{thebibliography}
\end{document}
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