Related Manuals for ActivMedia Robotics Pioneer 2
Summary of Contents for ActivMedia Robotics Pioneer 2
- Page 1 Pioneer 2 & PeopleBot M O B I L E R O B O T S with Pioneer 2 Operating System Servers OMPUTER & YSTEMS ANUAL...
- Page 2 ActivM EDIA OBOTICS The software on disk and on the Pioneer 2 controller ROM, which accompany the robot and/or are available for network download by ActivM ’ customers, are solely EDIA...
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Page 3: Table Of Contents
Table of Contents INTRODUCTION..................1 CHAPTER 1 ........................1 DDITIONAL ESOURCES PC O ........................1 NBOARD PERATION ..............................2 INUX User Login..........................2 Network and User Configuration Tools................2 GUI Desktop........................... 2 Network Access ........................3 95-2000/NT ........................3 INDOWS Network Configuration......................3 ............................ - Page 4 PERFORMANCE PEOPLEBOT..............20 CHAPTER 6 ............................20 ARDWARE ............................20 OFTWARE ..............................20 ONARS I/O E ..................20 XPANSION OARD AND OYSTICK ..........................20 ABLETOP SENSORS IR B ........................21 OLUMN REAKBEAMS IR S .........................21 ENSOR ROGRAMMING ....................21 MERGENCY UTTON AND E STALL .............................22 RIPPER...
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Page 5: Chapter 1 Introduction
Onboard PC Operation We mount your Pioneer 2’s onboard PC inside the robot’s front nose. The system comes complete with a high-capacity hard-disk drive for storage, onboard 10/100Base-T Ethernet (radio Ethernet optional) for network access, an accessory sidepanel (right side on the DX, in the AT’s center well, or on the left strut of the PeopleBot) for attachment of... -
Page 6: Linux
Switch ON your robot’s Main Power and then switch ON computer power from the sidepanel. A green LED indicates power state. The Ethernet radio accessory shares the sidepanel’s 10-BaseT connector. Accordingly, switch the RADIO off on the robot’s console if you attach a cable, or remove the Ethernet cable and switch the RADIO on if you plan to communicate wirelessly. -
Page 7: Network Access
mouse, and monitor, type the command “startx” to enable the GUI control desktop after logging into the system. Network Access To enable your robot PC’s Linux GUI (X-Windows) over the network, first allow your computer to host the robot’s X- displays with xhost. For example, working remotely from “bill2”, the first set of commands establish the X-host at the local console;... -
Page 8: Chapter 2 Software - Linux
EDIA OBOTICS software with documentation on your Pioneer 2 onboard PC. Under Linux, most software are located within their individual directories in /usr/local with rw (read/write) access by members of the users group. Similarly, documentation is in /usr/local/doc and source archives are in /usr/local/src. -
Page 9: Ayllu
This subdirectory contains the exectuable of the ACTS server. To run the ACTS server, cd to this directory (ie. cd /usr/local/acts/bin), then execute the following command: ./acts &. This will start ACTS up in the background, allowing you to run ACTS and train the system on various colored objects. -
Page 10: Botspeak
Ayllu/AylluDemos: This directory contains many useful demo applications for Ayllu. To make one of the demo programs, simply type “make” followed by the name of the program you want to make (ie. make wanderer.) Ayllu/README This file contains information on how Ayllu was installed on your computer, and how to configure your system settings to recognize that Ayllu is installed. -
Page 11: Saphira
This contains sample programs for learning how to program Saphira by example. The various programs in this directory contain information such as how to connect to the Pioneer 2 Mobile Robot and how to make a window-less client program. To compile these programs, simply type make in the directory. -
Page 12: Stereo Vision Software (Svs)
handler/obj directory ease compiling programs (ie.LD_LIBRARY_PATH=/usr/local/Saphira/ver62/handler/obj) ver62/license: This file contains licensing information for your copy of Saphira. Please read for information on your rights to use the software. ver62/maps: This directory contains maps, which can be used by your Saphira client programs for information on the robots environment. -
Page 13: Hardware
Ethernet cable, or connect directly to your workstation or laptop computer with a crossover Ethernet cable. Once connected and powered, the Access Point will be auto-detected by the Station Adapter (located inside the Pioneer 2), and will begin communication. The connection should be transparent to the user. -
Page 14: Bt848 Frame Grabber Drivers
Bt848 frame grabber drivers We have installed the bt848 drivers in the /usr/local/bt848-1.x directory on your system. Your system has been pre-configured to run with the PC104+ PXC200 Imagenation frame grabber. The README in the toplevel of this directory includes information on how the frame grabber drivers were installed. -
Page 15: P2 Gripper
(p2grip open opens the paddles.) Sony PTZ Camera The Sony Pan-Tilt-Zoom camera has been fully integrated onto our Pioneer 2 Mobile Robot. To test your Sony PTZ camera, follow the steps below (to test frame grabbing from the camera, read the bt8xx information located in this manual.) -
Page 16: Sick Laser Range Finder
Sound card one is configured to be /dev/audio. To test sound input from a microphone, follow the steps for a single sound card, described above. Sound card two is configured to be /dev/audio1. To test this sound card for sound input from a microphone, follow the steps for a single sound card system (described above), except replace this line: dd bs=8k count=10 <... -
Page 17: Software
This subdirectory contains a demo application that connects the ACTS server to a Saphira client program. This example, as documented in the acts_robot.cxx file, has the Pioneer 2 Mobile Robot follow a previously trained color object, stopping when the object or an obstacle is within a certain range of the front of side of the robot. -
Page 18: Ayllu
Acts/sfActs: This subdirctory contains a program that is compiled into a loadable shared object file. This file can be loaded into Saphira (from the Programs->Load Program menu item.) It defines a Saphira process that communicates to ACTS and sets up a series of data structures for providing an interface to the blob information from within Colbert. -
Page 19: Botspeak
A few of these resources are listed below, and have all been tested using the Pioneer 2 mobile robot. Please note that ActivMedia Robotics does not support nor prefer any of these products over another, but... -
Page 20: Saphira
This contains sample programs for learning how to program Saphira by example. The various programs in this directory contain information such as how to connect to the Pioneer 2 Mobile Robot and how to make a window-less client program. To compile these programs, simply type make in the directory. - Page 21 This directory contains information for different types of Pioneer robots. It has the proper hardware configurations settings (ie sonar), which allows Saphira to take full advantage of your robots hardware. ver62/update: This file contains information on the changes done to this version of Saphira from the last release version of Saphira.
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Page 22: Hardware
Ethernet cable, or connect directly to your workstation or laptop computer with a crossover Ethernet cable. Once connected and powered, the Access Point will be auto-detected by the Station Adapter (located inside the Pioneer 2), and will begin communication. The connection should be transparent to the user. -
Page 23: Soundblaster Compatible Pc104 Sound Card
This will start a demo program that tests the features of the Sony PTZ camera. The file that the test program runs, ptzdemo.act, is located in the C:\Saphira\ver62\colbert\ directory, and is an good example of how to control the Sony PTZ camera in your own Saphira client program. - Page 24 Pioneer 2 Mobile Robots from Activ . Accordingly, please MEDIA ROBOTICS refer to the Pioneer 2 Operations Manual (version 7 or later) for most operation and programming details. This section describes the hardware and software that is special to the Performance PeopleBot.
- Page 25 11.5 inches or nearer to the front of the robot and 1.5 inches at the height of the lower deck. The left and right Tabletop IR detectors are connected to the ID0 and ID1 digital input ports of the user I/O, respectively, which appear as bits 0 and 1 in the digin byte of the standard P2OS Server Information Packet.
- Page 26 You may also monitor the state of the E-Stop button with or without e-stall as an analog value reported in the Pioneer 2 Server Information Packet. You must specifically request that the value be included in the standard packet since it is not the default analog value.
- Page 27 44 C ONCORD TREET , NH 03458 ETERBOROUGH HTTP CTIV OBOTS 603-924-9100 602-924-2184...