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robots:pr2_guidelines [2016/10/22 08:53] – [Software installation] liscarobots:pr2_guidelines [2017/02/22 17:13] (current) – [Rebooting the robot] lisca
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 ===== 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>
  
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 <code> <code>
-ssh name@pr2+ssh <your-name>@pr2a
 </code> </code>
  
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 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>
  
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 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
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 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>
  
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 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 =====
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   - 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 =====
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   *  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 ====
  
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   * 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.1477126429.txt.gz · Last modified: 2016/10/22 08:53 by lisca · [Old revisions]
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