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Getting Started

What's In Box

The Fetch and Freight Research Edition robots each ship in reusable ATA cases. Inside each case you will find the robot, toolkit, and power supply for charging the robot.

Fetch and Freight

Please watch the video below for unpacking Fetch or Freight. The video covers unpacking the robot, connecting the batteries, turning on the robot, and driving the robot via the provided joystick.

Toolkit

The toolkit contains the tools, accessories, and fasteners needed to use the Fetch and Freight. The picture below shows packaged toolkit.

_static/toolkit_in_box.png

Inside the toolkit box you will find:

_static/toolkit_numbering.png
Item # Item Name QTY Purpose
1 Metric Hex Key Set 1 For removing screws and attaching accessories
2 Right Angle USB Connector 1 To prevent USB connector damage while driving
3 Wireless Joystick 1 For teleoperating the robot
4 USB Cable 1 For charging the wireless joystick
5 Finger Tip Covers 4 To replace damaged finger tips
6 M5x10mm SHCS 4 For attaching accessories to the base mount points
7 M4x10mm SHCS 4 For attaching accessories to the head mount points
8 M3x14mm Standoffs 4 For attaching accessories to the gripper
9 3ft Ethernet Cable 1 For connecting the robot to the network
10 Fetch Robotics Stickers 5 For your laptop :)
11 Mircofiber Lens Cloth 1 For cleaning optics of the robot

Robot Power Supply

The robot power supply is shown below in the packaging:

_static/charger.JPG

The robot plug end is shown below, when removing the charge plug from the robot always grab the plug by the housing and not the cable.

_static/charge_plug.png

Warning

Pulling on the charge plug cable instead of the handle can cause damage to the cable assembly over time and could potentially cause injury to the robot or user.

Running Fetch and Freight

Turning on Fetch and Freight

To turn on the robot, set the :ref:`power_disconnect` (the red one on the lower back of the robot) to the ON position and then press the power switch on the access panel until it lights up.

Logging In

Once the robot is turned on and the robot is on the network, ssh into the computer of the robot using the default fetch user account:

>$ ssh fetch@<robot_name_or_ip>

robot_name_or_ip will be either an IPv4 network address, or a network name, depending on the configuration of your local network. If your computer and network is setup for multicast DNS (mDNS) then you may be able to use fetchXYZ.local as the network name where XYZ will be the serial number of your robot (remove any leading zeros from the serial number).

Connecting a Monitor (Optional)

If you are unable to access the robot through ssh due to your network settings you will need to connect an HDMI monitor, USB keyboard and USB mouse to the side panel ports. Then use them to select your network from the networking menu, it looks like an empty quarter circle pointed downward when disconnected, in the upper right hand corner of the screen. Once it is set it should remain connected through all reboots.

Warning

Monitor cables that conform to HDMI specifications will fit the robot's monitor port. But some cheaper cables have overmolding that is too large given the spec and may not seat properly. Please ensure the HDMI cable you are using is the correct size.

Note

If you are still having difficulty connecting to your robot you will need to contact your network administrator for specific instructions on how to connect the robot to your network.

Once connected then create your user account as shown below.

Tucking Fetch's Arm

Note

The tuck arm server is a new feature released in fetch_teleop and fetch_bringup 0.6.0. The deadman became required in fetch_teleop 0.7.0.

To tuck the arm, press and hold button 6, as shown in the image of the controller below, for one second. This will trigger the tuck_arm server to tuck the arm. While tucking the arm, Fetch will avoid collisions with itself, however it will not be using any active perception, so be sure to keep the space in front of the robot clear when running the tuck arm. While the arm is tucking, you will have to hold the deadman. Releasing the deadman will stop the tucking action.

Driving Fetch and Freight with a Joystick

Visualizing Data

Putting Fetch and Freight Away

Before turning the robot off, it is recommended that you tuck the arm. When power is shut off, the arm will want to slowly fall and will be more difficult to backdrive when in the off configuration.

To turn the robot off, press and hold the illuminated power button on the access panel until it starts blinking. The power button will continue blinking until the computer has successfully shut down, and then power will be disconnected.