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
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* 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)
 
−
* [http://cloud.cogni.io/index.php/s/SeR4bpxj7zFbI89 Pengo]
 
−
* This effort is now deprecated. New systems are all open sourced.
 
−
 
 
−
=== Pengo User/Passord ===
 
 
<syntaxhighlight lang="bash" line='line'>
 
<syntaxhighlight lang="bash" line='line'>
 
User: pengo
 
User: pengo
Line 24: Line 56:
 
</syntaxhighlight>
 
</syntaxhighlight>
  
−
=== Pengo remote login ===  
+
== Pengo remote login ==
 
<syntaxhighlight lang="bash" line='line'>
 
<syntaxhighlight lang="bash" line='line'>
 
ssh pengo@pengo_ip
 
ssh pengo@pengo_ip
Line 30: Line 62:
  
  
−
=== Pengo network Configuration ===
+
== Pengo network Configuration ==
−
  * Run the command<br>
+
 
−
    * nm-connection-editor<br>
+
 
−
  * This will open the graphical network manager as seen below. If you have more than one connection, select the one you want to apply the static IP to, then click Edit.<br>
+
=== Pengo IP configuration ===
−
  * This will open the Editing Wizard dialog. It is in this box that we need to enter the information.<br>
+
Configure static ip:
−
  * Go to ''''IPv4 Settings'''' tab.<br>
 
−
* In the ''''DNS Servers'''' input user '''8.8.8.8''' as your DNS provider.<br>
 
−
* In the ''''Address section'''' choose the ''''Add'''' option:<br>
 
−
    * Insert your desired static IP.<br>
 
−
    * Use 255.255.255.0 as your Netmask address.<br>
 
−
    * Use your Gateway, can be found using *ifconfig command in the terminal.<br>
 
−
* Click save and run the commands:<br>
 
−
    *sudo service resolvconf restart
 
−
    *sudo service networking restart
 
 
<br>
 
<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>
  
−
* Configure the IP on Pengo:<br>
+
 
−
* go to :  
+
Restrat networking:
−
    * cd ~
+
<br>
−
    * pico pengo.config
+
<syntaxhighlight lang="bash" line='line'>
−
* Edit the parameters under ''''User Settings'''' to have the '''same IP''' as from stage 3:
+
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_IP= YOUR_STATIC_IP
 
   * PENGO_ROS_MASTER = YOUR_STATIC_IP
 
   * PENGO_ROS_MASTER = YOUR_STATIC_IP
 
<br>
 
<br>
−
* Reboot the computer and you're ready.
+
Reboot the computer and you're ready.
−
 
 
−
== Pengo IP configuration ==
 
−
== ROS IP configuration ==
 
−
== ROS launch configuration ==
 
  
 +
=== 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 ===
 
=== 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
 +
|}
  
 
=== Mapping and localization with Pengo ===
 
=== Mapping and localization with Pengo ===
−
Use Andoid App as explained in the link.
+
To control the Pengo you can use Cogniteam's [[HamsterOCUAndroidApp|Android app]].

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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