4. Run

It's really easy.

1. Insert batteries

Batteries + must be up for each batteries.

2. Turn on

Press II on power switch (I is for external power source). Robot should power up.
Check voltage on voltmeter, voltage lower than 5.6V must be dangerous.
If you want you can add an external battery alarm. Cyan cable is negative (GND-Ground).

3. Connect to UP2

Just open an ssh connection:
ssh erwhi@erwhiUP.local
insert password and you are online.

4. Start bring up

In one ssh connection type:
roslaunch erwhi_bringup bringup.launch
lots errors appears about zr300 camera. Everything is ok. Just close pressing CTRL+C then siconnect ZR300 cable and reattach it after a while.
Retype command and everything should be fine.
NOTE: Two errors "error 11" about uNav appears on bringup. Everything is ok, don't worry about them.

5. Start navigation tasks

Open a new ssh connection as shown in point 3.
Type:
roslaunch erwhi_navigation explorer_demo.launch
Now Erwhi as working on a map and localizates itself.

6. Open rviz on a remote computer

On a remote computer with screen/projector with Ubuntu 16.04 and ROS kinetic with shared roscore (in .bashrc MASTER URI must be http://erwhi.local:11311), type rviz in terminal.
Setup what you want to show.

7. Navigate

Press 2D nav goal and on screen click. Erwhi will reach that position.

8. Autonomous navgation

Just type in a new ssh connection:
roslaunch explore_lite explore.launch
Now robot is full autonomous.

9. Close everything

In each ssh connection close ROS tasks pressing CTRL+C. In one type sudo shutdown -h now. UP2 is turned off now. Turn of Erwhi positioning power switch in 0.