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

Mapping and localization with Pengo

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