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Robotnik GUARDIAN-WAM System Manual

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GUARDIAN-WAM MOBILE ROBOT

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Summary of Contents for Robotnik GUARDIAN-WAM

  • Page 1 GUARDIAN-WAM MOBILE ROBOT...
  • 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...
  • Page 5 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform WARNING! The Guardian robot is a powerful platform able to move up to speeds of 2m/s. Special care must be taken while operating the robot. Please follow these safety recommendations: - Do not allow anybody near the robot while the motor drives are enabled.
  • Page 6 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 1. Hardware 1.1. Electrical System 1.1.1. Main power supply The robot receives its power from a 48V battery. With this battery, the robot is able to operate up to 4 hours depending on the robot movements.
  • Page 7 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 1.1.2. Control Panel The back cover of the robot has several buttons and indicators with the following functions: Guardian-Wam WAM Status Display Control Panel E-Stop Figure 2 - Control panel WAM Power Guardian Power...
  • Page 8 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform again until it is restarted. Pressing this button restarts/resets the security system. Each emergency stop button cuts power to both motors. The robot computer indicator/button indicates that the Guardian computer is on. Pressing this button enables power to the Guardian PC.
  • Page 9 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 1.2. Game-Pad System 1.2.1. Connection This Bluetooth Game-pad is used for performing manual movements of the robot. The Bluetooth receiver is connected to a USB port of the computer inside the Guardian. Figure 6 - Game-pad circuit 1.2.2.
  • Page 10 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform By default, the configuration of the buttons is the following: Increase Speed Level Pairing button TILT - SphereCam Decrease Speed Level PAN - SphereCam Linear Speed Angular Speed Figure 8 - Gamepad front view...
  • Page 11 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 1.3. RC Take-Over (optional) It is possible to take the control of the Guardian using the RC emitter. The PC is not needed for this function; only the general ON/OFF switch must be activated.
  • Page 12 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 2. Software This section describes how to test the different components and how to operate the rover from an external PC using the ROS framework. A set of simulation experiments in Gazebo/Stage are also presented.
  • Page 13 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform $> rosrun image_view image_view:=<image topic> 4) To test the pan-tilt motion: >roslaunch guardian_pad guardian_pad.launch **Refer to section “1.2 Game-pad system” to see the button configuration. 2.1.2. Testing the Hokuyo laser ranger (optional component) Run the following launch files in a linux terminal: 1) Launches the Hokuyo node $>...
  • Page 14 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform microstrain_3dmgx2_imu). It will show the world frame and the robot IMU frame. Move the robot manually or with the joystick to check how the robot frame moves. Figure 9.visualization of IMU frame in rviz To see the complete IMU data: >rostopic echo /imu/data...
  • Page 15 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 2.1.4. Testing the Microsoft Kinect 3d sensor (optional component) >roslaunch openni_launch 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.
  • Page 16 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 2.1.5. Testing the modbus_io board (optional component) Follow these steps to test the Analog and Digital Input/Output board: 1) Check the IP address (refer to the manual “System installation and configuration”) 2) Launch the node: $>...
  • Page 17 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform Figure 12.visualization of basler camera video stream in rviz 2.2. Running the complete robot By default, all the ROS nodes are launched automatically when the robot is initialized. If you want to restart the nodes manually, you can stop the...
  • Page 18 RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform 2.3. Simulating the Guardian robot in ROS The guardian simulation stack is in the guardian_sim folder. Before starting the simulation, check that the whole stack is correctly compiled. Follow the steps: >roscd guardian_sim >cd guardian_description >rm CMakeCache.txt...

  • Page 19: Autonomous Navigation

    RBTNK-DOC-120229E System Start-up Manual. GUARDIAN-WAM Platform This will start the guardian robot in the robotnik.world environment. Autonomous navigation Launching the simulated environment and the robot: $> roslaunch guardian_description 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: $>...