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

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

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.

This category currently contains no pages or media.

@@ Line 1: / Line 1: @@
 {{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]]
-=== Pengo Educational Robot ===
 Pengo includes
 * 3D camera
@@ Line 13: / Line 50: @@
 * 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>
-== First time Pengo Configuration ==
+== Pengo remote login ==
-) Connect the Computer to the Robot.<br>
+<syntaxhighlight lang="bash" line='line'>
-) Turn on the computer.<br>
+ssh pengo@pengo_ip
-) Configure a static IP and connect to a network.<br>
+</syntaxhighlight>
-.1) Run the command<br>
-     * nm-connection-editor<br>
-.2) 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 network Configuration ==
-.3) This will open the Editing Wizard dialog. It is in this box that we need to enter the information.<br>
-.4) Go to ''''IPv4 Settings'''' tab.<br>
-.5) In the ''''DNS Servers'''' input user '''8.8.8.8''' as your DNS provider.<br>
+=== Pengo IP configuration ===
-.6) In the ''''Address section'''' choose the ''''Add'''' option:<br>
+Configure static ip:
-.6.1) Insert your desired static IP.<br>
-.6.2) Use 255.255.255.0 as your Netmask address.<br>
-.6.3) Use your Gateway, can be found using *ifconfig command in the terminal.<br>
-.7) Click save and run the commands:<br>
-     *sudo service resolvconf restart
-     *sudo service networking restart
 <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>
-.1) go to :
+Restrat networking:
-     * cd ~
+<br>
-     * pico pengo.config
+<syntaxhighlight lang="bash" line='line'>
-.2) 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_ROS_MASTER = YOUR_STATIC_IP
 <br>
-) Reboot the computer and you're ready.
+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
+|}
+=== Mapping and localization with Pengo ===
+To control the Pengo you can use Cogniteam's [[HamsterOCUAndroidApp|Android app]].

Difference between revisions of "Category:Pengo"

Latest revision as of 09:19, 8 April 2021

Contents

Pengo Internal documentation

Hardware

Pengo Wearhouse Robot

Pengo Educational Robot

Pengo User/Password

Pengo remote login

Pengo network Configuration

Pengo IP configuration

ROS IP configuration

ROS launch configuration

Pengo ROS topics

Mapping and localization with Pengo

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