Quick Setup

How to quickly setup your robot after building

This section contains information about how to setup your MARRtino robot. You need to install the Software before executing this step.

To properly configure your MARRtino robot, you need to perform 2 steps described below:

  1. Firmware upload
  2. Robot configuration

Follow istructions below according to your MARRtino model.

VERY IMPORTANT: The following operations must be done with robot wheels lifted from the ground (IT COULD MOVE!!!)

MARRtino 2019 high-school model

ONLY IF YOU HAVE THE NEW MARRTINO MOTOR BOARD 2019

VERY IMPORTANT!!! THE MOTORS CAN MOVE DURING THIS OPERATION. MAKE SURE THE WHEELS ARE LIFTED FROM GROUND.

1. Update the software firmware

NOT NEEDED FOR MARRTINO SOFTWARE VERSION 3.0

Connect to Raspberry with ssh and type these commands

cd install/
wget -N http://www.diag.uniroma1.it/iocchi/marrtino/marrtino_update_MB2019.bash
source marrtino_update_MB2019.bash

2. Reboot the Raspberry

NOT NEEDED FOR MARRTINO SOFTWARE VERSION 3.0

sudo reboot

3. 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/marrtino/config/index.html

Connect to the robot and press button Firmware Flash - 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


MANUAL CONFIGURATION (OTHER MODELS)

Connect via ssh to the raspberry on the robot or use a laptop connected to Arduino with srrg2_orazio and marrtino_apps software installed.

1. Firmware Upload

Compile and upload the firmware:

$ cd ~/src/srrg/srrg2_orazio_core/firmware_build/atmega2560
$ make clean
$ make
$ make orazio.hex

The Arduino Board is now running the latest firmware for MARRtino.

2. Robot Configuration

Modify the scrip upload_config.script in marrtino_apps/config to match your MARRtino model.

Then run

cd marrtino_apps/config
cat upload_config.script | rosrun srrg2_orazio_core orazio -serial-device /dev/orazio


Advanced configuration

Advanced manual configuration (for expert users)