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jaguar:base-control [2020/05/06 12:10] a18mitri [Jaguar V4 with Manipulator Arm] |
jaguar:base-control [2020/05/06 12:55] (current) a18mitri [External links] |
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| ===== Overview ===== | ===== Overview ===== | ||
| - | Quick overview of the material, what is is and how it is used. | + | Jaguar V4 Mobile Robotic Platform with manipulator arm is designed for indoor and outdoor applications |
| + | requiring robust maneuverability, terrain maneuverability and object manipulation. It comes with four articulated | ||
| + | arms and the integrated rugged 3+1DOF robotic manipulator (Jaguar Arm). | ||
| + | |||
| ===== Requirements ===== | ===== Requirements ===== | ||
| - | Detail here any specific requirements for using said material. | + | Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) |
| - | For example: specific software chain, operating system, network protocol, power supply, etc. | + | |
| + | ROS Kinetic | ||
| + | |||
| + | Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | ||
| ===== Description ===== | ===== Description ===== | ||
| - | You can here give a more detailed description of the product. Include pictures and figures to explain what it looks like, how it works, etc. | + | The robot integrates outdoor GPS and 9 DOF IMU (Gyro/Accelerometer/ |
| + | Compass) for autonomous navigation. Jaguar V4 platform is rugged, light weight (< 30Kg), compact, weather and | ||
| + | water resistant. It is designed for extreme terrains and capable of stair or vertical climbing up to 300mm with | ||
| + | ease. The 4 articulated arms could convert the robot into various optimal navigation configurations to overcome | ||
| + | different terrain challenges. The integrated high resolution video/audio and optional laser scanner provide remote | ||
| + | operator detail information of the surrounding. Besides the ready to use control and navigation software, a full | ||
| + | development kit including SDK, data protocol and sample codes, is also available. | ||
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| + | The robotic arm is light on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with maximum reach of over 707mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg. Wrist mounted color | ||
| + | video camera provides high resolution (720 x 480) close-up view. Jaguar Arm is ideal for object inspection and | ||
| + | handling. It could also work as an articulated sensor platform. Integrated software features independent joint | ||
| + | space control as well as gripper Cartesian space control. While it only has 3 rotation joints (excluding gripper), | ||
| + | when working together with the Jaguar mobile robot, Jaguar Arm could achieve full 6DOF, and reach virtually any | ||
| + | position and at any orientation within its allowed working space. | ||
| ===== Configuration ===== | ===== Configuration ===== | ||
| - | Detail here the configuration process, the different options, and how to set it up (first time or afterwards). | + | ---- |
| ===== How to use ===== | ===== How to use ===== | ||
| - | Explain here (with visual aide if possible) how to use the product, how to interface it with other material, how to plug it. | + | Turn the main switch to "ON" position. |
| - | It is also recommended to add a method (of a few methods even) to test the working of the product, like demos or a specific process. | + | |
| - | If you think a more complete tutorial is needed, please create another page for it, and link it here. | + | Press and hold the start button for about 1 second, then release. |
| + | |||
| + | To power off the robot, turn the main switch to "OFF" position, the system will shut down. | ||
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| + | After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | ||
| + | connect with this network with key “drrobotdrrobot”. | ||
| + | |||
| + | After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | ||
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| + | Launch roscore. | ||
| + | |||
| + | Launch base control node: | ||
| + | rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | ||
| + | |||
| + | Launch arm control node: | ||
| + | rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | ||
| + | |||
| + | PS Recharge the robot after every drawn-out usage. | ||
| ===== Uses ===== | ===== Uses ===== | ||
| - | Detail here how you use the product, for what project, what application, etc. | + | -- |
| - | If possible, add internal links to the project description page (or integrate them as shown in the best practice page). | + | |
| ===== External links ===== | ===== External links ===== | ||
| - | Add here any external resources needed (documentation, etc.). | + | http://wiki.ros.org/Robots/Jaguar |
| + | ROS drrobot packages: | ||
| + | https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485 | ||