Robotnik GUARDIAN-WAM, System Manual

Page 1: ...GUARDIAN WAM MOBILE ROBOT ...

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Page 3: ...System Start up Manual Version 4 1 Robotnik Automation S L L 29 02 2012 RBTNK DOC 120229E ...

Page 4: ...RBTNK DOC 120229E System Start up Manual GUARDIAN WAM Platform INDEX 1 Hardware 6 2 Software 12 4 ...

Page 5: ...rgency stop while servicing the tracks or the wheels Check regularly that the emergency stop works properly Do not sprinkle water or oil on the robot or power charging cord Contact with water or oil can cause electric shock or malfunction of the unit Charge the robot only with the charger provided Do not attempt to disassemble or modify the robot Do not use the unit where flammable or corrosive ga...

Page 6: ...ing on the robot movements The battery is connected directly to the robot through the security contactor K1 and the control contactor K2 There is a connector in the back of the robot where the charger can be connected It is possible to charge the robot with the control connector open but it is recommended to cut the power to the motor by pushing the emergency stop button Charging time is around 2 ...

Page 7: ... switch cuts the power of the whole robot and indicates that the power supply has been activated The WAM ON OFF indicator switch turns on off the power of the WAM arm and indicates that the power supply has been activated The restart indicator button indicates that the security system has been activated so motors cannot be moved 7 WAM Status Display E Stop WAM Power Guardian Wam Control Panel Guar...

Page 8: ...y via WiFi or directly via wired Ethernet 1 1 4 Emergency Stop The Guardian robot has an emergency stop system that cuts power to any mobile element that might injure a person or cause damage to the robot s environment In order to activate the security system push either one of the emergency buttons located on the back cover Figure 3 Emergency stop It is strongly recommended to keep the emergency ...

Page 9: ...operating the Guardian and its peripheral devices Please follow these instructions 1 Turn on the Robot 2 Turn on the Guardian computer by pressing the CPU Start button on the Guardian s back panel The computer indicator should illuminate 3 Wait until the computer is started 4 Release the emergency stop buttons 5 Press the Restart button to reset the security system 6 When the system is ready enabl...

Page 10: ...Platform By default the configuration of the buttons is the following Figure 8 Gamepad front view Figure 9 Gamepad top view 10 Angular Speed Linear Speed Increase Speed Level PAN SphereCam TILT SphereCam Dead man button Pairing button Decrease Speed Level ...

Page 11: ... activated 1 Switch ON the RC emitter 2 Switch CH5 of the RC emitter to the ON position Switch Up is RC OFF and switch Down is RC ON 3 Now you can move the robot with the joysticks of the RC emitter Move left joystick up and down for traction and the right one for direction The normal use is left and right but up and down has special use if the optional back steering kit is installed Figure 5 RC E...

Page 12: ...components in ROS with rviz Refer to manual System installation and configuration in order to configure the network and the connection to the robot 2 1 1 Testing the webcam sphere In a linux console launch the following launch configurations 1 Launches the video driver roslaunch logitech_usb_webcam low_res launch 2 Launches the pan tilt driver roslaunch sphereptz test_sphereptz launch 3 Visualizat...

Page 13: ...node roslaunch hokuyo_node hokuyo_test launch 2 Visualization of the range values export OGRE_RTT_MODE Copy depending on the configuration rosrun rviz rviz After launching rviz it is possible to load the hokuyo configuration file located in the hokuyo_node directory roscd hokuyo_node Figure 8 visualization of laser scans in rviz 2 1 3 Testing the inertial measurement unit IMU optional component ro...

Page 14: ...orientation x 0 976004692987 y 0 21651466317 z 0 0121415921153 w 0 0197181787683 orientation_covariance 0 0012250000000000002 0 0 0 0 0 0 0 0012250000000000002 0 0 0 0 0 0 0 0012250000000000002 angular_velocity x 0 00280542019755 y 0 00460833963007 z 0 000865295878612 angular_velocity_covariance 2 8900000000000004e 08 0 0 0 0 0 0 2 8900000000000004e 08 0 0 0 0 0 0 2 8900000000000004e 08 linear_acc...

Page 15: ...nch openni launch rosrun rviz rviz In rviz select as fixed frame camera_link add point_cloud2 object and configure topic camera depth_registered points Figure 10 visualization of kinect point clouds in rviz To see the infrared image add image object and configure topic camera image_ir image_raw Figure 11 visualization of infrared images in rviz 15 ...

Page 16: ...r camera you should have installed and configured it properly refer to the manual System Installation and Configuration Once the camera is configured you will able to launch and visualize the camera images 1 Manual configuration and image_view export ROS_NAMESPACE basler_camera rosrun camera_aravis camnode export ROS_NAMESPACE basler_camera rosrun image_proc image_proc rosrun image_view image_view...

Page 17: ...n 2 If there are processes in the list you can stop them using this type of command sequence kill s SIGTERM pid of first process kill s SIGTERM pid of Nth process 3 Start a new terminal CTRL ALT T and run roscore 4 Once roscore is running you can run each component individually in different terminals or you can launch the configuration file available in guardian_complete directory which will launc...

Page 18: ...ke in the stack directory roscd guardian_sim rosmake To start the simulation Teleoperation Launching the simulated environment and the robot roslaunch guardian_description guardian_robotnik launch Launching the keyboard teleoperation node roslaunch guardian_controller teleop_keyboard launch Launching the joystick teleoperation node roslaunch guardian_joystick_teleop guardian_joy launch It is possi...

Page 19: ...scription guardian_robotnik launch Launching the AMCL navigation roslaunch guardian_odometry guardian_sim_odometry launch roslaunch guardian_2dnav move_base_amcl launch Launching the SLAM navigation roslaunch guardian_odometry guardian_sim_odometry launch roslaunch guardian_2dnav move_base_slam launch rosrun rviz rviz Figure 14 Guardian navigation and RVIZ Refer to www ros org for further informat...