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how_to_setup_robotino_for_programming_and_navigation

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How to Setup Robotino for Programming and Navigation

Author: Dylan Wallace Email: [email protected]
Date: Last modified on 06/13/16
Keywords: step-by-step, how to, ssh, linux, Robotino, programming, navigation

The big picture problem is navigation and mapping for robots. Solving this partially or completely is important because it allows for autonomous systems to navigate around autonomously, giving much more power than human control. This tutorial shows you how to setup and generally operate Robotino and takes approximately 1-2 hours to complete.

Motivation and Audience

This tutorial's motivation is to provide a platform to build navigation and mapping programs off of. Readers of this tutorial assumes the reader has the following background and interests:

* Know how to program in linux and C++
* Perhaps also know how to ssh and use ftp
* Perhaps additional background needed may include interest in mapping and navigation algorithms
* This tutorial may also attract readers who want to work with other linux-0based systems such as Darwin or MKII

The rest of this tutorial is presented as follows:

  Setup
  Operation
  Final Words

Setup

This section gives step-by-step instructions along with photos to setup Robotino for programming and mapping.

Step 1: Boot up Robotino

Power on Robotino to ensure all systems are working properly. Either connect Robotino to a 24V, 2.5A power supply, or connect two 12V batteries into the two battery slots provided on Robotino. Make sure to read through the Robotino operation manual before plugging anything in, and always make sure to use the proper safety precautions. Provided below are photos of how to hook up the power supply or batteries.

<Power supply/battery photos>

Step 2: Setup DHCP on Robotino

Do this by accessing Robotino's menu with the buttons on its top side. Press Enter and navigate down to Network. After network navigate to eth0, and then DHCP. Once in the DHCP menu, scroll down to Activate and press Enter. This will setup Robotino with a static IP that is constantly accessible. For my Robotino setup, this IP is 10.42.0.75, but your mileage may vary.

<DHCP menu pic>

Step 3: SSH into Robotino

Start by opening up a terminal window in Linux. In order to SSH into Robotino you will need to be connected to Robotino with a network cable. Also make sure that you are connected to the Robotino wireless connection in Linux. You can do this by simply going to your network settings in Ubuntu and connecting to the wireless network that you are using for Robotino. Now you can go back to your terminal and type the following (replace <your_robotino_ip> with the ip address setup during Step 2):

 ssh robotino@<your_robotino_ip>
 

When prompted for a password, type “robotino”.

Operation

A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>. The goal of the code is <brief explanation>. It works in the following way

<!- Insert a snippet of your code here. Try to keep to less than 0.5 page long –>

The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.

<!- Insert another snippet of your code here. Try to keep to less than 0.5 page long –>

Next, the code does <fill in the blank>. It does this by <fill in the blank>. Final Words

This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.

Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.

For questions, clarifications, etc, Email: [email protected]

how_to_setup_robotino_for_programming_and_navigation.1465950698.txt.gz · Last modified: 2016/06/14 17:31 by dwallace