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jaguar:base-control [2020/05/06 12:52] a18mitri |
jaguar:base-control [2020/05/06 12:54] a18mitri [Requirements] |
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| Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | ||
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| ROS Kinetic | ROS Kinetic | ||
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| Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | ||
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| ===== How to use ===== | ===== How to use ===== | ||
| - | 1. Turn the main switch to "ON" position. | + | Turn the main switch to "ON" position. |
| - | 2. 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. | + | Press and hold the start button for about 1 second, then release. |
| - | 3. After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | + | |
| + | To power off the robot, turn the main switch to "OFF" position, the system will shut down. | ||
| + | |||
| + | 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”. | connect with this network with key “drrobotdrrobot”. | ||
| - | 4. After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | + | |
| - | 5. Launch roscore. | + | After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. |
| - | 6. Launch base control node: | + | |
| - | rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | + | Launch roscore. |
| - | 7. Launch arm control node: | + | |
| - | rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | + | 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. | PS Recharge the robot after every drawn-out usage. | ||