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RuteLuz edited this page Dec 10, 2019 · 20 revisions

Safety and Warnings:

  1. While working, ALWAYS maintain the robot charging:

    1. press out the motor button (red button)
    2. turn on the charger
    3. connect the charger to the robot
    4. press in the motor button (red button)
    5. wait for the four clicks (sound) to confirm that is charging

  2. Once you finished using the robot, ALWAYS switch off the robot, by following the steps:

    1. in the robot's pc (ssh) type in the terminal: poweroff
    2. Once the pc is off, turn off the button 'pc_nav' (white button)
    3. press out the motor button (red button)
    4. press out the power button (blue button)
    5. disconnect the charger from the robot
    6. turn off the charger

System Setup

Network Setup:

Connect to ROAH24 wifi network

Connect to the robot

To connect (remotely) your pc to the robot you should use the following command:

ssh socrob@<ROBOT_IP>

( mbot5: 10.1.15.14)

( mbot7: 10.2.0.21)

Launch the robot's basic functionalities (in the remote pc):

bringup_mbot

Launch the robot's localization funcionalities (in the remote pc):

dwa

ensure that the robot is localized by visualizing the amcl particles in rviz

Launch your nodes in your (local) pc:

To be able to connect to the roscore (runnning in the robot's pc) you should setup your ROS environment variables:

export ROS_MASTER_URI=http://<MBOT_IP>:11311 && export ROS_IP=`get_interface_that_pings <MBOT_IP> | get_ip_of_interface`

MOnarCH robot introduction

The MOnarCH robot, mbot or Gasparzinho (little Casper) is the outcome of a research project called the MOnarCH project. Is was originally designed to interact with children in hospitals. Nowadays other FCT projects, such as HARODE, re-utilize this robot for their own goals. HARODE FCT project stands for "Human Aware Robots in Domestic Environments" and is the project that currently benefits SocRob economically speaking.

In Institute for Systems and Robotics (ISR) there are 3 robots (mbot01, mbot05, mbot07). mbot01 is used by prof. João Sequeira research group. mbot05 and mbot07 are used by SocRob@Home and were extended with a Cyton Gamma 1500 Robai arm with 7 degrees of freedom. SocRob@Home team created a custom gripper (designed by Diogo "Tec" Serra, former lab technician). The arm is composed of Dynamixel motors joint together by 3D printed parts. Additionally was installed a GPU (GeForce GTX 1060 AERO, a rather powerful GPU for a mobile robot), that is used to run functionalities that require powerful parallel processing, like realtime object perception and natural language understanding. mbot05 and mbot07 are built with the same components and have the same software, in fact they are meant to be identical twins (although they still have subtle differences).

To know a bit more about the robot hardware details check this, in particular pages 48-51 to consult the robot operation manual.

Resources

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