Difference between revisions of "Category:HamsterProKit"

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'''Note: Camera D435i must be already updated with latest firmware and have calibrated IMU. Visit official site for more information.'''
 
'''Note: Camera D435i must be already updated with latest firmware and have calibrated IMU. Visit official site for more information.'''
  
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===2. Download the image and burn the image into your robot ===
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===2. Run installation script ===
  
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Download image:
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Internet connection requires
  
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[https://cloud.cogni.io/index.php/s/wEBt55X5qKoV5WN IMAGE]
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Run installation script:
  
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Burn your image:
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<code>wget https://cloud.cogni.io/index.php/s/E6WeEMh7hdYXuGY/download -O - | bash</code>
  
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[https://wiki.cogni.io/Category:HamsterProKit/ImageUploading INSTRUCTIONS]
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Reboot board.
  
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===3. '''Configure your robot''' ===
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===3. Configure ROS IP ===
  
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* ''''' ON ROBOT WIFI / ETHERNET'''''
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Configure ROS IP for ROS applications:
  
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You need to access your robot via '''HDMI''' and configure wifi/ethernet settings '''ON ROBOT'''.
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<code>pico hamster.config</code>
  
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After configuration you will be able to access your robot through ssh.
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Edit row:
  
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Configure your '''wifi''' like described below:
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<code>export HAMSTER_IP=your_IP</code>
  
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[https://wiki.cogni.io/Category:HamsterProKit/WifiSetup WIFI SETUP]
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===4. Launch examples ===
  
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or use '''Ethernet''' connection:
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To run examples in ROS:
  
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[https://wiki.cogni.io/Category:HamsterProKit/EthernetSetup ETHERNET SETUP]
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<code>ros_prokit</code>
  
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'''Note: in both cases you configure [http://wiki.ros.org/Master ROS MASTER]. Links and descriptions above'''
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[https://wiki.cogni.io/Category:HamsterProKit/RosExample ROS_EXAMPLES]
  
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* '''''ON ROBOT ENVIRONMENT DESCRIPTION AND CONFIGURATION'''''
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To run example in ROS2:
  
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Each robot should be configured with unique ID.
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<code>ros2_prokit</code>
  
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ID - gives your topics unique prefix - agent* (relevant for ROS1).
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[https://wiki.cogni.io/Category:HamsterProKit/Ros2Example ROS2_EXAMPLES]
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Set this name in home directory '''hamster.config''' file:
 
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<code> export HAMSTER_ID=agent1</code>
 
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'''There are two ros distro provided:'''
 
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ROS1 - melodic
 
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ROS2 - dashing
 
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All relative source commands are available in .bashrc file,
 
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just comment/uncomment required command and execute<code><span style="color:black"></span>source .bashrc</code> from terminal
 
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ros melodic workspace - '''hamster_ws'''
 
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ros dashing workpace - '''hamster2_ws'''
 
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===4. '''Run examples and see output''' ===
 
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* '''''I want to run examples and see some output on robot'''''
 
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- '''''ROS1'''''
 
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1. Connect to your robot with HDMI.
 
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2. Uncomment melodic relative rows in .bashrc file below page
 
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3. Save changes
 
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4. Execute <code>source .bashrc</code> from terminal
 
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5. Follow these [https://wiki.cogni.io/Category:HamsterProKit/RosExample RUN INSTRUCTIONS]
 
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- '''''ROS2'''''
 
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1. Connect to your robot with HDMI.
 
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2. Uncomment dashing relative rows in .bashrc file below page
 
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3. Save changes
 
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4. Execute <code>source .bashrc</code> from terminal
 
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5. Follow these [https://wiki.cogni.io/Category:HamsterProKit/Ros2Example RUN INSTRUCTIONS]
 
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* '''''(optionally) I want to run examples and see some output on remote machine '''''
 
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- '''''ROS1 on remote machine'''''
 
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1. Install [http://wiki.ros.org/ROS/Installation ROS1] on remote machine
 
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2. Connect to the robot via ssh (if you robot is already configured with wifi - just connect remote machine to access point and make ssh)
 
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3. Run launch commands on robot like described [https://wiki.cogni.io/Category:HamsterProKit/RosExample HERE]
 
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'''Note: In case remote machine visualization you don't need to run rviz on robot'''
 
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4. From remote machine make export to robots' master:
 
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<code>export ROS_MASTER_URI=htts://ROBOT_IP:11311</code>
 
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<code>export ROS_IP=REMOTE_MACHINE_IP</code>
 
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'''Note: you should do it for each spawned terminal or add this exports to .bashrc file'''
 
−
 
 
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5. On remote machine run <code>rviz</code> in terminal and make config like [https://wiki.cogni.io/Category:HamsterProKit/RosExample HERE]
 
−
 
 
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- '''''ROS2 on remote machine'''''
 
−
 
 
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1. Install [https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Binary/ ROS2]  on remote machine
 
−
 
 
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2. Connect to the robot via ssh (if you robot is already configured with wifi - just connect remote machine to access point and make ssh)
 
−
 
 
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3. Run launch commands on robot like described [https://wiki.cogni.io/Category:HamsterProKit/Ros2Example HERE]
 
−
 
 
−
'''Note: if you are connected via ssh - rviz, launched on robot, may fall with mistake. Ignore this.'''
 
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4. On remote machine you can see all available topics with <code>ros2 topic list</code> command
 

Revision as of 19:50, 29 March 2020

AAEON Pro Kit support page

Charger LLC Battery rev2.jpg ProKitLLC.png

3rd party things need to know to work with kit

  • ROS2 general information: ROS2
  • RVIZ - instrument for visualization: RVIZ

Kit prerequisite (not included in the kit)

  • Lipo battery with T connector 7.4V 2 cell.
  • Battery charger

1. Connecting all parts within the kit

  • Use the LLC cable (in the picture) to both monitor and charge the battery
 * Port 9 can be used to charge the Lipo Battery
 * Port 8 should connect the the Lipo battery balancer (JST connector)
 * Port 7 should connect to the LLC board 
 * Red T connector (rightmost on the picture)
  • Connect the Up Squared board to the LLC as shown in the picture
 * TX/RX should be connected to GPIO ports
 * Power should be connected through DC connector
  • Connect the MX2 wifi module
  • Connect the two WIFI antennas using the SMT connector to the integrated chip
  • Connect the Movidius chip using the PCI connector
  • Connect the D435i camera to a USB3 Port using the cable

Note: Camera D435i must be already updated with latest firmware and have calibrated IMU. Visit official site for more information.

2. Run installation script

Internet connection requires

Run installation script:

wget https://cloud.cogni.io/index.php/s/E6WeEMh7hdYXuGY/download -O - | bash

Reboot board.

3. Configure ROS IP

Configure ROS IP for ROS applications:

pico hamster.config

Edit row:

export HAMSTER_IP=your_IP

4. Launch examples

To run examples in ROS:

ros_prokit

ROS_EXAMPLES

To run example in ROS2:

ros2_prokit

ROS2_EXAMPLES

Subcategories

This category has the following 4 subcategories, out of 4 total.

H

Pages in category "HamsterProKit"

This category contains only the following page.

S

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