\title{Ana Start up, operation and shut down procedures}
\author{Sergi Hernandez Juan}
\begin{document}
\maketitle
\section{Description}
This procedure describes the procedures that must be followed when starting up, operating and shutting down the Ana robot\ref{}.
This document includes three procedures, one to set the robot in a ready state, in section \ref{}, a second one that includes all the thing 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{}.
\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:
\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.
\item Intel RealSense D-435 and Velodyne PUCK sensors for 3D navigation.
\item Upper structure with a touch screen display and speakers.
\item Pan and tilt unit with a Zed Stereo camera.
\end{itemize}
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}
\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.
\item Power switch and fuse for the RGB LED strip on the upper structure.
\item Power switch and fuse for the upper structure 5V output.
\item Motor battery fuse and charge connector.
\item Payload battery fuse and charge connector.
\item 6 sonars.
\item 5 bumpers
\end{itemize}
Fig. \ref{} shows the rear panel of the Ana robot. The elements enumerated in this figure are described next:
\begin{itemize}
\item Main power switch.
\item Battery door.
\item 6 sonars.
\item 5 bumpers
\end{itemize}
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}
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}
\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 LIDAR 3D connector (Ethernet and power).
\item Speaker output and microphone input.
\end{itemize}
\section{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.
\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{}.
\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.
\end{tabular}
\end{table}
\item Turn the main power switch () 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 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{}.
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.
\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.
\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.
\end{tabular}
\end{table}
\end{itemize}
\section{Operation}
\subsection{Connect to the robot}
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 to a wired network using the external ethernet interface (see section \ref{} 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 a cable}
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}}&\textbf{IMPORTANT:}This option is only recommended when the robot does not have to move. Otherwise it may be dangerous to move the robot with a cable attached to it.
\end{tabular}
\end{table}
To connect to the robot using a wired connection, please follow the next steps:
\begin{itemize}
\item Connect an Ethernet cable to the Ethernet port of the robot shown in Fig. \ref{}.
\item Connect the other end of the cable to the computer. The router on the robot will provide an IP address
\item
\end{itemize}
\subsubsection{Login to the on-board computer}
To log into the on-board computer
\subsection{Install and update software}
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.
To install new software into the robot, please follow the next steps:
\begin{itemize}
\item Prepare a document including, at least, the following information:
\begin{itemize}
\item A brief description of the software to be installed.
\item A brief justification of why the software is needed on the robot, and the name of the project it is associated to.
\item A list of all system dependencies required, if any. That is all the libraries that can be installed using the \textit{apt-get} application.
\item A list of all external software repositories required, if any. That is, any software not from IRI and that can no be installed with \textit{apt-get}.
In this case, include also any specific branch or version of the software, as well as any special instructions required to build them and install them into the robot.
\item A list of all IRI software repositories required. Include the same information as for external repositories.
\end{itemize}
\item Create a service request in the intranet including the information from the previous step, as well as any time constraints.
\item The laboratory technicians will review the request and install all necessary software as soon as possible.
If, during the install process, any problem is detected, it will be reported back to the user so that the information provided in the first step can be updated and improved.
\item The laboratory technicians will keep a log of all the actuations and when they were performed.
\end{itemize}
To update existing software
\subsection{Start ROS}
To launch all the basic nodes required to operate the robot using ROS, execute the following command:
%roslaunch iri_ana_bringup bringup.launch
To verify everything is working as expected, launch the diagnostic application using the following command:
This application uses a GUI, so
If the robot and all the on-board sensors are working properly, all reports should be green. If there is any yellow (warning) or red (error) reports, please contact the
% calibrate the touchscreen (external procedure)
% calibrate the internal IMU.
\section{Shut down}
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.
\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 .
\item Wait until the screen turn off.
\end{itemize}
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\multirow{3}{*}{\includegraphics[width=1cm]{attention.png}}&\textbf{IMPORTANT:} It is very important to avoid switching off the robot's power while the computer is on to avoid corrupting the Ubuntu file system.
\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.
\begin{table}[h]
\begin{tabular}{p{1cm}p{10cm}}
\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.
