Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
robots:pr2_guidelines [2016/10/22 08:45] – [Accounts] liscarobots:pr2_guidelines [2017/02/22 17:13] (current) – [Rebooting the robot] lisca
Line 102: Line 102:
 For additional details you may have a look how the synchronization problem between PR2's C1 and C2 is solved with the base station help http://pr2support.willowgarage.com/wiki/PR2%20Manual/Chapter13#Clock_Synchronization. For additional details you may have a look how the synchronization problem between PR2's C1 and C2 is solved with the base station help http://pr2support.willowgarage.com/wiki/PR2%20Manual/Chapter13#Clock_Synchronization.
  
-===== Account Configuration ===== +
-The transition from rosbuild to catkin generated a lot of porting requirements which needed long transition time and made discrete ROS upgrades practically impossible.  +
 ===== Software installation ===== ===== Software installation =====
 Get familiar with [[http://www.ros.org/wiki|ROS]] by working through the following tutorials on your local machine before getting started on the robot: Get familiar with [[http://www.ros.org/wiki|ROS]] by working through the following tutorials on your local machine before getting started on the robot:
-  * [[http://www.ros.org/wiki/roscpp/Tutorials]] or [[http://www.ros.org/wiki/rospy/Tutorials]] +  * [[http://wiki.ros.org/ROS/Tutorials]] both Python and C++ 
-  * [[http://www.ros.org/wiki/actionlib/Tutorials]] (either Python or C++) +  * [[http://www.ros.org/wiki/actionlib/Tutorials]] both Python and C++ 
-  * [[http://www.ros.org/wiki/tf/Tutorials]] (either Python or C++) +  * [[http://www.ros.org/wiki/tf/Tutorials]] both Python or C++
- +
-You can find some information on what distribution you should use why +
-and when and how to manage overlays [[http://www.ros.org/wiki/ROS/Installation/WillowGarage|here]]. But note that the +
-instructions for making overlays are somehow outdated since they still +
-use the old rosinstall script. How to create overlays with the new +
-rosinstall is explained below. +
- +
-The robot has boxturtle and cturtle installed in /opt/ros. The default +
-distribution that is used is cturtle. Every account sources per +
-default /opt/ros/cturtle/setup.sh. __Never__ install or update any ros +
-packages in /opt/ros. This installation is exclusively maintained by +
-the pr2 administrators. If you want to use different versions or your +
-own repositories, you need to create overlays. To do that, you need to +
-create your own rosinstall file. You can find more information +
-[[http://www.ros.org/wiki/rosinstall|here]]. It is not a good idea to use one of the rosinstall files used in +
-the ros installation instructions since they are not meant for +
-overlays but for complete installations. You should create your own +
-rosinstall file containing only the stacks you want to install +
-instead. First, initialize your overlay with: +
- +
-<code> +
-rosinstall ~/ros /opt/ros/electric +
-</code> +
- +
-Then install your stacks: +
- +
-<code> +
-rosinstall ~/ros foo.rosinstall +
-</code> +
- +
-You can find more information on rosinstall [[http://www.ros.org/wiki/rosinstall/NewVersion|here]]. +
  
 ===== Running the robot ===== ===== Running the robot =====
  
-To work on the robot, your computer must be either connected to the +To work on the robot, your computer must be either connected to the lab network. The robot's computers in the network are named pr2a and pr2b. 
-lab network or be connected to it via vpn. Instructions on how to set +
-up the vpn can be found [[ias:iasvpn|here]].  The robot's computers in the network +
-are named pr2a and pr2b. There is also an alias pr2 that links to +
-pr2a. You can use+
  
 <code> <code>
-export ROS_MASTER_URI=http://pr2:11311+export ROS_IP=<the-ip-of-your-machine> 
 +export ROS_MASTER_URI=http://pr2a:11311
 </code> </code>
  
Line 158: Line 122:
  
 <code> <code>
-ssh name@pr2+ssh <your-name>@pr2a
 </code> </code>
  
Line 165: Line 129:
 still needs it. __Never__ kill someone else's processes without asking. still needs it. __Never__ kill someone else's processes without asking.
 If the robot is not claimed, first find the wireless runstop. It If the robot is not claimed, first find the wireless runstop. It
-should be close around the robot.  Make sure that the runstop is off +should be close around the robot.   
-before you start up the robot with:+ 
 +Now claim the robot:
  
 <code> <code>
-sudo robot start+robot claim
 </code> </code>
  
-Alternatively, if you do not want to use the default installation or see the nice roslaunch output, with+Make sure that the runstop is off before you start up the robot with:
  
 <code> <code>
-roslaunch /etc/ros/robot.launch+roslaunch /etc/ros/indigo/robot.launch
 </code> </code>
  
 The robot should come up now.  To check, set the %%ROS_MASTER_URI%% on The robot should come up now.  To check, set the %%ROS_MASTER_URI%% on
-your local machine to %%http://pr2:11311%% and launch the [[http://www.ros.org/wiki/pr2_dashboard|pr2_dashboard]]+your local machine to %%http://pr2a:11311%% and launch the [[http://www.ros.org/wiki/pr2_dashboard|rqt_pr2_dashboard]]
 with with
  
 <code> <code>
-rosrun pr2_dashboard pr2_dashboard+rosrun rqt_pr2_dashboard rqt_pr2_dashboard
 </code> </code>
  
Line 190: Line 155:
  
 It might be a good idea to first start the core manually before It might be a good idea to first start the core manually before
-running the robot and to run all your commands in a [[http://www.gnu.org/software/screen/|screen]] +running the robot and to run all your commands in a [[http://www.gnu.org/software/screen/|screen]] or [[http://gnometerminator.blogspot.de/p/introduction.html|terminator]] session. Now release the runstop. The robot might calibrate. Be sure
-session. Now release the runstop. The robot might calibrate. Be sure+
 that it will not hit anything while calibrating.  While moving the that it will not hit anything while calibrating.  While moving the
 robot, __always__ make sure that the wireless runstop is in reach. If robot, __always__ make sure that the wireless runstop is in reach. If
Line 198: Line 162:
 is plugged in. **First plug in the power cable into the PR2's inlet, then into the wall outlet**. This is important because the power cable and the pr2 power inlet might get damaged otherwise. When you are done on the robot, move it to its docking is plugged in. **First plug in the power cable into the PR2's inlet, then into the wall outlet**. This is important because the power cable and the pr2 power inlet might get damaged otherwise. When you are done on the robot, move it to its docking
 station and plug in the network cable and the power cable. Press the red button on the station and plug in the network cable and the power cable. Press the red button on the
-runstop. If you started up the robot yourself (not with %%sudo robot start%% but with roslaunch, ctrl-c it. If you started it with %%sudo robot start%%, it is not necessary to stop it when you are don. Now release the robot with:+runstop. Now release the robot with:
  
 <code> <code>
-sudo robot release+robot release
 </code> </code>
  
Line 211: Line 175:
 is.  No objects may be placed on top of the PR2.  Be wary of small is.  No objects may be placed on top of the PR2.  Be wary of small
 objects (e.g. screws). If you suspect anything has fallen in the PR2, objects (e.g. screws). If you suspect anything has fallen in the PR2,
-cut the power with the breakers and contact 01637194179 immediately.+cut the power with the breakers and contact [[mailto:amaldo@cs.uni-bremen.de|Alexis]] immediately.
  
 ===== Running Kinect2 from PR2 ===== ===== Running Kinect2 from PR2 =====
Line 223: Line 187:
   - Start the Kinect2 bridge: (stopping with **CTRL+C**) <code># /etc/ros/kinect2_bridge_remote.sh</code> This script sets the environment and launches the kinect2_bridge node on the [[ias:backpackpc|Backpack PC]].   - Start the Kinect2 bridge: (stopping with **CTRL+C**) <code># /etc/ros/kinect2_bridge_remote.sh</code> This script sets the environment and launches the kinect2_bridge node on the [[ias:backpackpc|Backpack PC]].
  
-==== Gaining access to Backpack PC ==== 
  
-For getting access to the [[ias:backpackpc|Backpack PC]]: 
-  * Write an email with your public key to Alexis (<amaldo@cs.uni-bremen.de>) or Thiemo (<wiedemeyer@cs.uni-bremen.de>) 
-**or** 
-  * Copy your public key to **kinect2@backpack** and ask Alexis or Thiemo to type in the password <code># ssh-copy-id kinect2@backpack</code> 
-===== The WEB Interface ===== 
- 
-The robot also provides a nice web interface that allows you to bring 
-it up, shut it down or start simple applications to, for instance, 
-tuck the arms or start teleop. You can find it [[http://pr2|here]]. The login is 
- 
-<code> 
-  guest - guest 
-</code> 
-   
-To bring the robot up, first release the runstop and then click on the 
-button to start up and calibrate the robot. On the top line you can 
-see the current battery status, the status of the motors and so 
-on. Under apps, you can find applications for tucking the arm or 
-teleoperating the robot. Please note that, to start up teleoperation, 
-you first have to launch `PR2 Addons` under `Other`. 
  
 ===== Checklists ===== ===== Checklists =====
Line 252: Line 195:
   *  Check if the robot is claimed. Do not kill other people's processes without asking them.   *  Check if the robot is claimed. Do not kill other people's processes without asking them.
   *  Make sure the runstop is off   *  Make sure the runstop is off
-  *  Claim and start up the robot with `sudo robot start`+  *  Claim and start up the robot with <code>robot claim</code>
   *  Run the dashboard on your local machine   *  Run the dashboard on your local machine
   *  Release the runstop. The robot might calibrate. Make sure that it doesn't hit anything.   *  Release the runstop. The robot might calibrate. Make sure that it doesn't hit anything.
 +  *  Work with the robot.
   *  Always have the runstop in reach.   *  Always have the runstop in reach.
 +  *  When you are done working with the robot press the "Stop" button on runstop. 
 +  *  Release the robot <code>robot release</code> 
 +  
 ==== Leaving the robot for a short time ==== ==== Leaving the robot for a short time ====
  
Line 266: Line 212:
   * Move the robot to its docking station   * Move the robot to its docking station
   * Plug in the robot (Ethernet and power). **First plug in the power cable into the PR2's inlet, then plug in the power cable into the wall outlet**    * Plug in the robot (Ethernet and power). **First plug in the power cable into the PR2's inlet, then plug in the power cable into the wall outlet** 
-  * Release the robot with `sudo robot stop` 
   * Press the red button on the runstop   * Press the red button on the runstop
 +  * Release the robot with `robot release`
   * Plug the PS3 controller into the USB hub nearby the robot   * Plug the PS3 controller into the USB hub nearby the robot
 +
 +==== Rebooting the robot ====
 +
 +  * on pr2b enter the command <code>sudo shutdown -h now</code>
 +
 +  * on pr2a enter the command <code>sudo shutdown -h now</code>
 +
 +  * flip off the power switch (on the back side of robot's base)
 +
 +  * flip on the power switch (on the back side of robot's base)
 +
 +  * pr2a should boot automatically (no help needed)
 +
 +  * in case help is needed then in your favourite browser, open pr2a's remote BIOS screen http://192.168.102.79
 +
 +  * pr2b needs manual trigger for the the booting process
 +
 +  * in your favourite browser, open pr2b's remote BIOS screen http://192.168.102.81
 +
 +  * ask [[mailto:amaldo@cs.uni-bremen.de|Alexis]] or [[mailto:lisca@cs.uni-bremen.de|Gheorghe]] the magic username and password
 +
 +  * hit enter in order to trigger the pr2b's booting process (just follow the instructions on the screen)
 +
 +  * next step: the calibration routine (trigger at the first run of roslaunch /etc/ros/indigo/robot.launch)
 
robots/pr2_guidelines.1477125920.txt.gz · Last modified: 2016/10/22 08:45 by lisca · [Old revisions]
Recent changes RSS feed Powered by PHP Valid XHTML 1.0 Valid CSS Driven by DokuWiki