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10. Launching OpenSHC

Syropod Banner

Previous: Preparing the Legged Robot

After preparing the legged robot, you can launch the ROS launch files and run OpenSHC on the real legged robot.

10.1 Turn on the switch of the legged robot to turn on the motors and boot the Raspberry Pi.

10.2 Allow some time for the Raspberry Pi to boot and log on to your router or the mobile hotspot to find the ip-address of the Raspberry Pi.

10.3 SSH into the Raspberry Pi from your PC or laptop by,

ssh username@ip-address
  • Here username should be the username of the Raspberry Pi (default is ubuntu) and ip-address should be the IP address of the Raspberry Pi obtained by the router or the mobile hotspot. (e.g. ssh ubuntu@192.168.1.1)

10.4 Enter your log in details and log in to the Raspberry Pi.

10.5 Source the devel/setup.bash file from your workspace if it is not added to the .bashrc file.

source ~/openshc_ws/devel/setup.bash

10.6 Set the latency of the dynamixel port to low by,

sudo setserial /dev/ttyACM0 low_latency
  • ttyACM0 should be replaced with your matched port if necessary.

10.7 First launch the Syropod Hardware Controller launch file from the terminal by,

roslaunch frankenX_syropod frankenX_hardware.launch

10.9 Make sure that the all motors are identified with their relevant IDs and all controllers have been started.

10.10 kill the process by "CTRL+C" and launch both the Syropod Hardware Controller and the Syropod Highlevel Controller from the terminal at once by,

roslaunch frankenX_syropod frankenX_start.launch

10.11 The system is initially at suspended state.

suspended_state

10.12 Press the Logitech button after acquiring the robot state to change the system state to operational.

operational_state

10.13 Press the start button to change the robot state to ready state.

ready_state

10.14 Press the start button again to change the robot state to running state.

running_state

10.15 When the workspace is generated and the robot is ready to walk you can control the robot from the joystick. Visit How to Control the Legged Robot to learn how to control the legged robot from the joystick.

10.16 See Troubleshooting if you encounter with any problems.

Back to Implementing OpenSHC on a Raspberry Pi 3