Difference between revisions of "Category:Pengo"

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=== ROS launch configuration ===
 
=== ROS launch configuration ===
 +
Navigate to:
  
 
=== Pengo ROS topics ===
 
=== Pengo ROS topics ===

Revision as of 15:11, 21 August 2017

WhatsApp Image 2016-11-02 at 11.07.40.jpeg

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 Internal documentation

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

Pengo User/Passord

<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:

Pengo ROS topics

Mapping and localization with Pengo

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

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