IRpOSRunning

Running IRPOS in hardware and nohardware modes

Running IRPOS on the real robots in 012 laboratory

Turning on hardware using control panel

• Make sure that emergency stop is nearby.
• Switch power on by turning "ZAS" key right.
• Press "LOG" button.
• Wait a second, and turn on power of robot by pressing white key.
• Use black keys to turn of power of particular robots

Running the software on PC

• The robot hardware communicates with gerwazy host, hence the deployers and irp6-common-realclock.launch should be activated on that hosts
• Remember that in every new ROS console you should source ROS, i.e. the custom one or

source ~/opt/ws_irp6/setup.bash

• If the console is activated on other host then gerwazy (on localhost) the export command is additionally needed

export ROS_MASTER_URI=http://gerwazy:11311

• In new console (on gerwazy) run irp6-common-realclock.launch file (only one per PC is valid so special script was created)

rosrun irp6_bringup run_common_realclock.sh

• in new console (on gerwazy) run deployer launch file, e.g.:

roslaunch irp6_bringup irp6-conv-hardware.launch

• in new console (on localhost) run rqt to synchronise and monitor robots

rqt

• in rqt activate Irp6 Dashboard plugin

• You can run RViz in other console (on localhost)

rosrun rviz rviz

• If you run RViz the first time some extra operations are needed
• click Add, then choose rviz->RobotModel
• in GlobalOptions change FixedFrame to world
• the exemplary scripts to command the robot are located in scripts directory of irp6_bringup package

Shutting down the IRp-6 hardware and driver

On PC

• Kill deployer with "Ctrl+C" and "Ctrl+D".
• If no other users are running theirs deployers kill irp6-common-realclock.launch console

On robot control panel

• Press emergency stop or "STOP" button on panel.
• Switch power of by turning key "ZAS" left.

Running IRpOS in test (nohardware) mode

In general this mode is very similar in running to hardware one with a few exceptions:

• run irp6-common-simclock.launch
• every ROS node can be run on localhost
• instead of hardware on the nohardware deployer should be run, e.g.

roslaunch irp6_bringup irp6-conv-nohardware.launch