Quick Setup
How to quickly setup your robot after building
QUICK SETUP FOR SYSTEM VERSION 4.2 !!!
This section contains information about how to setup your MARRtino robot.
You need to install the Software (system version 4.2) before executing this step.
VERY IMPORTANT: The following operations must be done with robot wheels lifted from the ground (IT COULD MOVE!!!)
1. Configuration file
Connect to Raspberry ssh marrtino@10.3.1.1
Set values according to the configuration of your robot.
nano ~/system_config.yaml
system:
nginx: off | on
simulator:
stage: off | on
robot:
motorboard: off | arduino | ln298 | pka03 | marrtino2019
4wd: off | on
joystick: off | on
laser: off | hokuyo | rplidar
camera: off | usbcam | astra | xtion
functions:
navigation: off | on
vision: off | on
speech: off | on
mapping: off | on
social: off | on
Build and restart the docker containers
restart_docker.bash
2. Upload firmware
Make sure the Arduino board is connected to the Raspberry and that robot node is not running.
Option 1. Using the config web interface - http://10.3.1.1//config/index.html
Connect to the robot, press button Firmware Flash - Wait 30 seconds ...
press button Firmware Update Params - Wait 30 seconds ...
Option 2. Using a terminal
Connect to the Raspberry with ssh and type these commands
cd ~/src/marrtino_apps/config
./uploadfirmware.bash
./uploadfirmwareparams.bash <arduino | ln298 | pka03 | marrtino2019>
Check settings with web interface
Start Web config Orazio Web interface Quit Web config
3. Reboot the Raspberry
Use the web interface or type
sudo reboot