Calder (Cognitive and Affective Legged Device for Environmental Reasoning) Robot

Turning On

1. Get a blue battery with velcro patches and align the velcro
2. Grab and connect the little alarm to the battery using the other white end. With the clock facing you, the black wire should be on the far left
3. Connect to power with the yellow cable
4. Flip silver switch

Connecting

1. Use the middle computer in the very back row by the printers, or lovelace
2. Open 2 terminals
3. Terminal 1 (Map)

1. ssh ubuntu@ubuntu-pi-rhoeby3

1. Yes (if new user)

2. Password: rhoeby001
3. ./rhoeby_init.sh
4. Hit enter after everything loads
5. ./rhoeby_mapping.sh

4. Terminal 2 (Control)

1. ssh to ubuntu-pi-rhoeby3 again
2. source /opt/ros/kinetic/setup.bash
3. export ROS_MASTER_URI=http://ubuntu-pi-rhoeby3:11311

5. On a lovelace terminal

1. source /opt/ros/kinetic/setup.bash
2. export ROS_MASTER_URI=http://ubuntu-pi-rhoeby3:11311
3. rosrun rviz rviz

6. Maximize the window
7. In the bottom left corner, ‘Add’ by ‘topic’ ‘Laser Scanner’
8. ‘Add’ ‘Map’ by ‘topic’
9. ‘Add’ ‘Robot’ under ‘display’

Movement

• Use arrow keys
• Up = forward
• Down = backward
• Right and left = turning
• Space = stop

Shutting Down

1. Save window before closing
2. In Terminal 1, type: q
3. sudo shutdown -h now
4. Give 30s to shut down
5. Switch the robot off

Charging Battery

1. Plug the battery into the charger using the yellow end
2. Put the tiny white end in the 3S slot on the side of the charger
3. Click the red button until the flashing light is on Lipo
4. Hold down the button until the light is solid red, or stops flashing red and green

Tips

• When viewing the Map, the green block on the Robot is the back
• When mapping, the robot will hit stuff
• On the physical robot, the front is the clear box