Difference between revisions of "Category:Pengo"

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{{DISPLAYTITLE:Pengo}}
 
{{DISPLAYTITLE:Pengo}}
 +
 +
 +
= Pengo Internal documentation =
 +
* Pengo (internal) documentation can be found here (Password protected)
 +
* [http://cloud.cogni.io/index.php/s/SeR4bpxj7zFbI89 Pengo]
 +
* This effort is now deprecated. New systems are all open sourced.
 +
 +
= Hardware =
 +
* PC Connection: USB or via RX/TX pins on the parallel port
 +
* Motor Overload Detection: disables power on detecting high current (>3A)
 +
* Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
 +
* Gyro: factory calibrated, 1 axis (110 deg/s)Bumpers: left, center, right
 +
* Cliff sensors: left, center, right
 +
* Wheel drop sensor: left, right
 +
* Power connectors: 5V/1A, 12V/1.5A, 12V/5A
 +
* Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
 +
* Audio : several programmable beep sequences
 +
* Programmable LED: 2 x two-coloured LED
 +
* State LED: 1 x two coloured
 +
* LED [Green - high, Orange - low, Green & Blinking - charging]
 +
* Buttons: 3 x touch buttons
 +
* Battery: Lithium-Ion, 14.8V, 4400 mAh (4S2P - large) can be doubled
 +
* Firmware upgradeable: via usb
 +
* Sensor Data Rate: 50Hz
 +
* Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
 +
* Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
 +
* Docking IR Receiver: left, centre, right
 +
 +
= Pengo Wearhouse Robot =
 +
[[File:pengo-wearhouse.jpg|400px]] [[File:pengo-wearhouse-2.jpg|400px]]
 +
* Up to 4 X 3D cameras D435 or D415
 +
* Optional T265 for localization in large areas
 +
* 2D Lidar
 +
* Bumper sensor
 +
* Battery monitoring
 +
* Charging base unit
 +
 +
= Pengo Educational Robot =
 
[[File:WhatsApp Image 2016-11-02 at 11.07.40.jpeg|200px|thumb]]
 
[[File:WhatsApp Image 2016-11-02 at 11.07.40.jpeg|200px|thumb]]
−
=== Pengo Educational Robot ===
 
 
Pengo includes
 
Pengo includes
 
* 3D camera
 
* 3D camera
Line 13: Line 50:
 
* Screen with animation for HMI, ROS controlled
 
* Screen with animation for HMI, ROS controlled
  
−
== Pengo Internal documentation ==
+
== Pengo User/Password ==
−
Pengo (internal) documentation can be found here (Password protected)
+
<syntaxhighlight lang="bash" line='line'>
−
[http://cloud.cogni.io/index.php/s/SeR4bpxj7zFbI89 Pengo]
+
User: pengo
−
This effort is now deprecated. New systems are all open sourced.
+
Password : pengo
 +
</syntaxhighlight>
 +
 
 +
== Pengo remote login ==
 +
<syntaxhighlight lang="bash" line='line'>
 +
ssh pengo@pengo_ip
 +
</syntaxhighlight>
 +
 
 +
 
 +
== Pengo network Configuration ==
 +
 
 +
 
 +
=== Pengo IP configuration ===
 +
Configure static ip:
 +
<br>
 +
<syntaxhighlight lang="bash" line='line'>
 +
sudo nano /etc/network/interfaces
 +
</syntaxhighlight>
 +
 
 +
Now, paste this under # The primary network interface:
 +
<syntaxhighlight lang="bash" line='line'>
 +
auto lo
 +
iface lo inet loopback
 +
iface ens33 inet static
 +
        address xxx.xxx.xxx.xxx(enter your ip here)
 +
        netmask xxx.xxx.xxx.xxx(usually, 255.255.255.0)
 +
        gateway xxx.xxx.xxx.xxx(enter gateway ip here,usually the address of the router)
 +
        dns-nameservers 8.8.8.8
 +
</syntaxhighlight>
 +
 
 +
 
 +
Restrat networking:
 +
<br>
 +
<syntaxhighlight lang="bash" line='line'>
 +
systemctl restart ifup@eth0
 +
</syntaxhighlight>
 +
 
 +
At this point you can check if the settings are correct:
 +
<br>
 +
<syntaxhighlight lang="bash" line='line'>
 +
ifconfig
 +
</syntaxhighlight>
 +
=== ROS IP configuration ===
 +
Run the following commands in the terminal:
 +
<syntaxhighlight lang="bash" line='line'>
 +
      cd ~
 +
      pico pengo.config
 +
</syntaxhighlight>
 +
Edit the parameters under ''''User Settings'''' to have the '''same IP''' as from stage 3:
 +
  * PENGO_IP= YOUR_STATIC_IP
 +
  * PENGO_ROS_MASTER = YOUR_STATIC_IP
 +
<br>
 +
Reboot the computer and you're ready.
 +
 
 +
=== ROS launch configuration ===
 +
Navigate to:
 +
<syntaxhighlight lang="bash" line='line'>
 +
      cd ~
 +
</syntaxhighlight>
 +
Run the launch file:
 +
Note, there is a 15 seconds delay to assure that all of the configurations are done.
 +
<syntaxhighlight lang="bash" line='line'>
 +
      . pengo-startup
 +
</syntaxhighlight>
 +
=== Pengo ROS topics ===
 +
{| class="wikitable"
 +
|-
 +
! Topic !! Description
 +
|-
 +
| /odom || Wheels controller.
 +
|-
 +
| /scan|| Scanning an area.
 +
|-
 +
|/move_base/goal || Move to a certain target.
 +
|-
 +
|/mobile_base/sensors/imu_data || Data coming from the IMU sensor.Compass, Accelerometer
 +
|-
 +
|/agentN/ackermann_cmd || Velocity command
 +
|-
 +
|/amcl_pose || Absolute position published by AMCL node (localization)
 +
|-
 +
|/agentN/imu || Compass, Accelerometer
 +
|-
 +
|/map || A map used for localization
 +
|}
  
−
== First time Pengo Configuration ==  
+
=== Mapping and localization with Pengo ===
−
1) Turn on.<br>
+
To control the Pengo you can use Cogniteam's [[HamsterOCUAndroidApp|Android app]].
−
2) Connect the computer.<br>
 
−
3) Configure a static IP and connect to a network.<br>
 
−
  * the IP should be identical to the one in the file Pengo.Conig under the ROS_MASTER_URI paramter.<br>
 

Latest revision as of 09:19, 8 April 2021


Pengo Internal documentation

  • Pengo (internal) documentation can be found here (Password protected)
  • Pengo
  • This effort is now deprecated. New systems are all open sourced.

Hardware

  • PC Connection: USB or via RX/TX pins on the parallel port
  • Motor Overload Detection: disables power on detecting high current (>3A)
  • Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
  • Gyro: factory calibrated, 1 axis (110 deg/s)Bumpers: left, center, right
  • Cliff sensors: left, center, right
  • Wheel drop sensor: left, right
  • Power connectors: 5V/1A, 12V/1.5A, 12V/5A
  • Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
  • Audio : several programmable beep sequences
  • Programmable LED: 2 x two-coloured LED
  • State LED: 1 x two coloured
  • LED [Green - high, Orange - low, Green & Blinking - charging]
  • Buttons: 3 x touch buttons
  • Battery: Lithium-Ion, 14.8V, 4400 mAh (4S2P - large) can be doubled
  • Firmware upgradeable: via usb
  • Sensor Data Rate: 50Hz
  • Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
  • Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
  • Docking IR Receiver: left, centre, right

Pengo Wearhouse Robot

Pengo-wearhouse.jpg Pengo-wearhouse-2.jpg

  • Up to 4 X 3D cameras D435 or D415
  • Optional T265 for localization in large areas
  • 2D Lidar
  • Bumper sensor
  • Battery monitoring
  • Charging base unit

Pengo Educational Robot

WhatsApp Image 2016-11-02 at 11.07.40.jpeg

Pengo includes

  • 3D camera
  • 2D Lidar
  • Speakers
  • Lilt unit
  • Bumper sensor
  • Battery monitoring
  • Charging base unit
  • 2 Linux servers pre-configured with ROS
  • Screen with animation for HMI, ROS controlled

Pengo User/Password

<syntaxhighlight lang="bash" line='line'> User: pengo Password : pengo </syntaxhighlight>

Pengo remote login

<syntaxhighlight lang="bash" line='line'> ssh pengo@pengo_ip </syntaxhighlight>


Pengo network Configuration

Pengo IP configuration

Configure static ip:
<syntaxhighlight lang="bash" line='line'> sudo nano /etc/network/interfaces </syntaxhighlight>

Now, paste this under # The primary network interface: <syntaxhighlight lang="bash" line='line'> auto lo iface lo inet loopback iface ens33 inet static 

       address xxx.xxx.xxx.xxx(enter your ip here)
       netmask xxx.xxx.xxx.xxx(usually, 255.255.255.0)
       gateway xxx.xxx.xxx.xxx(enter gateway ip here,usually the address of the router)
       dns-nameservers 8.8.8.8

</syntaxhighlight>


Restrat networking:
<syntaxhighlight lang="bash" line='line'> 

systemctl restart ifup@eth0

</syntaxhighlight>

At this point you can check if the settings are correct:
<syntaxhighlight lang="bash" line='line'> ifconfig </syntaxhighlight>

ROS IP configuration

Run the following commands in the terminal: <syntaxhighlight lang="bash" line='line'> 

     cd ~
     pico pengo.config

</syntaxhighlight> Edit the parameters under 'User Settings' to have the same IP as from stage 3: 

  * PENGO_IP= YOUR_STATIC_IP
  * PENGO_ROS_MASTER = YOUR_STATIC_IP


Reboot the computer and you're ready.

ROS launch configuration

Navigate to: <syntaxhighlight lang="bash" line='line'> 

      cd ~

</syntaxhighlight> Run the launch file: Note, there is a 15 seconds delay to assure that all of the configurations are done. <syntaxhighlight lang="bash" line='line'> 

      . pengo-startup

</syntaxhighlight>

Pengo ROS topics

Topic Description
/odom Wheels controller.
/scan Scanning an area.
/move_base/goal Move to a certain target.
/mobile_base/sensors/imu_data Data coming from the IMU sensor.Compass, Accelerometer
/agentN/ackermann_cmd Velocity command
/amcl_pose Absolute position published by AMCL node (localization)
/agentN/imu Compass, Accelerometer
/map A map used for localization

Mapping and localization with Pengo

To control the Pengo you can use Cogniteam's Android app.

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