Robot_real_World

Robot Bring-Up

1. Turn on the robot power supply using the main robot switch.
2. Turn on the computer by shortly pressing the PC button (below the main power switch).
3. Shortly after your press, the button indicator led will turn solid magenta and the robot will perform hardware self-test.

Please note: during the test the robot will slightly move forward. This is a normal part of the testing process. Please make sure there are no obstacles in front of the robot.

4. When self-test finishes, the indicator led should blink blue or magenta if the test finished successfully. If the led is blinking magenta, that means the battery is low. Connect the robot to the supplied charger.

If led blink red, the test failed and errors were found. Please refer the Problem solving for more information.

In order to bring up your robot, Open a new terminal (Ctrl+Alt+t) and run:

$ roslaunch lizi lizi.launch

That's it, your robot is up! If the self-test finished successfully and the launch file runs without errors the led indicator should be solid blue, and a message saying "hardware ok" will be printed on the screen.

By default, not all sensors and capabilities are enabled with the above launch command. In order to select the sensors and capabilities, you want to enable you can add arguments to the above launch command.

Sensors

lidar – launch front 2d LIDAR.
depth_cam – launch front rgb camera.
rgb_cam – launch front 3d camera.

capabilities selection

gmapping - Setting this argument to true will enable using the OpenSlam's Gmapping SLAM algorithm.

hector_slam - Setting this argument to true will enable using the hector_slam SLAM algorithm.

amcl - Setting this argument to true will enable using amcl - probabilistic localization system. Requires to set have_map to true ''and set the path to the pre-saved map file with map:="path/to/map/file.yaml". Also, when using localization you can specify initial location in the map by setting x, y and Y (heading) arguments. eg. amcl:=true have_map:=true map:="path/to/map/file.yaml" x=x0 y=y0 Y=Y0

• gmapping, hector_slam and amcl requires to add lidar:=true for using the laser scanner and move_base:=true to use navigation move_base capability.

Simulation

gazebo - Setting this argument to true will load the Gazebo simulation environment and bring-up the robot. See the Bring-up a robot in the gazebo simulation environment tutorial for more details and extra related arguments.

For example, if you want to launch the robot with the head camera and laser scanner, use the following command:

$ roslaunch komodo2 komodo2.launch lidar:=true rgb_cam:=true

Note: The order for the arguments doesn't matter.

next: Bring-up a robot in the gazebo simulation environment

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