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--- jaguar:base-control [2020/05/06 12:10] – [Jaguar V4 with Manipulator Arm] a18mitri
+++ jaguar:base-control [2020/05/06 12:55] (current) – [External links] a18mitri
@@ Line 5: / Line 5: @@
 ===== 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 =====
-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 =====
-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.
+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 =====
-Detail here the configuration process, the different options, and how to set it up (first time or afterwards).
+----
 ===== 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.
+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.
+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 =====
-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 =====
-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