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
camera_resolution: (640, 480) # (width, height)
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
WARNING. Robot can move during these operations. Keep it lifted from ground.
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
docker exec -it orazio bash
cd ~/src/marrtino_apps/config
./uploadfirmware.bash
./uploadfirmwareparams.bash <arduino | ln298 | pka03 | marrtino2019>
Check settings with web interface
Start Web config
Orazio Web interface
In the Drive panel, check the following tests:
tr.vel 0.1 -> forward slowly
tr.vel -0.1 -> backward slowly
rot.vel 0.2 -> right forward, left backward slowly
rot.vel -0.2 -> right backward, left forward slowly
Quit Web config
3. Reboot the Raspberry
Use the web interface or type
sudo reboot
Configure a local docker environment
To interact with MARRtino ROS nodes and programs from your local Linux host, you need to configure a local docker environment.
If you use MARRtino VM, you can skip the installation steps 1, 2, 3 below.
Install docker and follow post-installation setup
download marrtino_apps:
git clone https://bitbucket.org/iocchi/marrtino_apps.gitset environment variable in your ~/.bashrc file
export MARRTINO_APPS_HOME=<folder where you cloned marrtino_apps>create a playground folder for development files
set environment variable in your ~/.bashrc file
export MARRTINO_PLAYGROUND=<playground folder>open a new terminal
set robot IP (must be set on any terminal or added to ~/.bashrc)
export ROBOT_IP=<IP of the robot running ROS>set local host IP (must be set on any terminal or added to ~/.bashrc)
export ROS_IP=<local IP in the same network of the robot>run the docker container
cd $MARRTINO_APPS_HOME/docker
./run_local.bashThis docker container mounts the playground folder where you can store permanent files and is configured to interact with ROS and Python interfaces of MARRtino software