Quick Guide
This guide is more a resume on ROS command We assume you have a working bot.
Connect via SSH to the bot and run the following files or service
roslaunch plutobot minimal
OR
rosservice call /check_pluto_node minimal
roslaunch plutobot bringup
OR
rosservice call /check_pluto_node bringup
roslaunch plutobot slam
OR
rosservice call /check_pluto_node slam
roslaunch plutobot navigation
OR
rosservice call /check_pluto_node navigation
NOTE: slam and navigation cannot run together! NOTE: navigation via webapp can be launched but not specific command for navigation are implemented
Via webapp start the nodes bringup and slam
Navigate the robot with the web interface
See Saving the map on original linobot
See on original linobot Starting Navigation
- I can't connect to the robot
Check the wifi and connect via windows
Execute an ssh to the device or connect with the web browser to (e.g http://10.42.0.1 )
- If you are not able to resolv a name and your network is configure check the name server
If some service is unavailable (e.g. check via command top on embedded PC) Check Start a ros service
Power train parameter, teensy FW
Configuration size etc
https://github.com/linorobot/linorobot/wiki/2.-Base-Controller#23-running-the-robot
Example of unreliable RPM
a good reading (with the implemented Median filter of length 3 samples)
There is a normal resistance to move, this is used to set the parameter
#define PWM_POSITIVE_MIN_THRESHOLD 16 // The minimum threshold for pwm in brushless control, it maps the 0 to PWM_POSITIVE_MIN_THRESHOLD. An offset for the 0 to PWM MAX
#define PWM_NEGATIVE_MIN_THRESHOLD -55// // The minimum threshold for pwm in brushless control. it maps the 0 to PWM_NEGATIVE_MIN_THRESHOLD. An offset for the 0 to PWM MIN
in teensy/firmware/lib/config/lino_base_config.h
Forward
Rotatin
Normal IMU direction (is pointed to the top)
IMU left side
Bot on onde side IMU direction
New PWM detection
TODO: image about minimum threshold PWM
Original Odometry Page Linobot
Odometry message, sensor fusion (there is an error in the original page)
Example of wrong positioning
Quick check, rotate 360 degrees and move for example one meter (check the grid distance in
Be sure your grid is set to the proper value
It should be possible to make a complete loop
Check the encoder readings
Next, check if the encoder readings are correct from the terminal where you ran minimal.launch. All encoder readings must increase as you drive forward, and decrease as you drive in reverse.
to activate, enable the debug level, on the target bot
rosservice call /rosserial_lino/set_logger_level "{logger: rosout, level: debug}"
NOTE, this won't work if the flag DEBUG is not enabled see firmware.ino
Normal SLAM
After acquiring a map see howto
With very wrong positioning
Acceptable
