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Related Manuals for CLEARPATH DINGO
Summary of Contents for CLEARPATH DINGO
- Page 1 DINGO INDOOR PLATFORM USER MANUAL...
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Page 2: Table Of Contents
......10 2.1.3 Connect Dingo to Wireless Network ....... 10 2.2 Remote ROS Connectivity . -
Page 3: Introduction
Dingo’s MCU PCBA (for user power), remove the four M5 flathead screws from the top trough cover, and then remove the trough cover. The interior of the Dingo-D is shown in Figure 4 and the interior of Dingo-O is shown in Figure 5 along with example payload modules. - Page 4 External payload mounts (80mm spacing) Wheels Side panels (battery swap) HMI panel Fairings (payloads) Trough cover (MCU, user power) Figure 1: Dingo-D exterior External payload mounts (80mm spacing) Side panels (battery swap) HMI panel Fairings (payloads) Trough cover (MCU, user power)
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Page 5: System Architecture
1.3 System Architecture Like many ROS robots, Dingo is built around an x86 PC running Ubuntu, paired with a 32-bit MCU. The MCU handles I/O, power supply monitoring, and motor control, as well as supplying data from the integrated IMU. The communication channel between the MCU and PC is a Gigabit Ethernet connection. - Page 6 SLA battery module Computer module MCU board Figure 4: Area inside Dingo-D, with example modules Rev. 1.1.0 Dingo...
- Page 7 Li-Ion battery module SLA battery module Computer module Empty module MCU board Figure 5: Area inside Dingo-O, with example modules Rev. 1.1.0 Dingo...
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Page 8: Getting Started
2 GETTING STARTED The first step is to power up your Dingo and have some fun driving it around! If you’ve just unpacked Dingo from its packaging, you may need to open it up and connect the battery. Press the power button on Dingo’s HMI panel. -
Page 9: Wireless Access
2.1 Wireless Access To get Dingo connected to your local wifi, you must first access the internal computer using a wired connection. Open the chassis, lower the computer tray, and connect to the network port labeled with a standard ethernet cable. -
Page 10: Connect To Dingo Via Ssh Over Ethernet
2.1.3 Connect Dingo to Wireless Network Now that you’re connected via SSH over a wired connection, you can setup Dingo to connect to a local wifi network. To do this, you will need to use Netplan - a preinstalled network configuration tool. -
Page 11: Remote Ros Connectivity
2.2 Remote ROS Connectivity To use ROS desktop tools, you’ll need your computer to be able to connect to Dingo’s ROS master. This will allow you to run ROS commands like , and others, from a remote PC and the output... - Page 12 If the tools launch, then everything is setup properly. Please contact Clearpath Support if you need assistance in configuring remote access. For more general details on how ROS works over TCP with multiple machines, please see: http://wiki.ros.org/ROS/Tutorials/MultipleMachines For help troubleshooting a multiple machines connectivity issue, see: http://wiki.ros.org/ROS/NetworkSetup...
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Page 13: Dingo Desktop Packages
When your ROS install is set up, install the Dingo desktop packages: sudo apt‐get install ros‐noetic ‐dingo‐desktop Once your remote access to Dingo’s ROS master is configured (see options in subsection 2.2), you can launch rviz, the standard ROS robot visualization tool: roslaunch dingo_viz view_robot.launch... -
Page 14: Apps
3 APPS When equipped with a laser scanner as is available in the Gazebo simulation, Dingo works with the standard ROS http://wiki.ros.org/dingo_navigation navigation stack. See Rev. 1.1.0 Dingo... -
Page 15: Charging & Battery Maintenance
• The batteries should be dropped off or delivered to your local hazardous waste authority for disposal. • When traveling with Dingo, consult your airline’s restrictions regarding lithium batteries (if applicable). If possi- ble, bring the batteries in your carry on luggage, where they will be subject to normal cabin temperatures and pressures. -
Page 16: Safety Considerations
Place a wooden crate, a set of sawhorses, a sturdy storage tub, or any other solid flat structure having a height greater than 6 inches under Dingo to keep the wheels clear of the ground (“up on blocks”). -
Page 17: Lifting And Transport
• Please dispose of the batteries properly or return them to Clearpath Robotics to do so. 5.4 Lifting and Transport • Ensure that Dingo’s Stop Mode is engaged when transporting short distances and powered off when transporting longer distances • Do not push the robot at more than 0.5 m/s (1.6 ft/s) or damage to the motor controls may occur. -
Page 18: Payload Integration Guide
6.1 Mechanical Mounting External payloads can be attached to the 80 mm square mounting holes on Dingo’s trough cover as shown in Figure 4 and Figure 5. The mounting holes come with M5 screws pre-installed. You may mount your hardware directly onto the trough cover or you may design and mount a new plate to the trough cover and secure it to the trough cover using M5 screws. -
Page 19: Software Integration
Please see the following page on the ROS wiki for a partial list: http://wiki.ros.org/Sensors For the best experience, consider purchasing supported accessories from Clearpath Robotics for your Dingo, which will include simulation, visualization, and driver support. However, we will happily assist you in integrating your own devices as well. -
Page 20: Contact
7 CONTACT Clearpath is committed to your success with Dingo. Please get in touch with us and we’ll do our best to get you rolling again quickly: support@clearpathrobotics.com To get in touch with a salesperson regarding Dingo or other Clearpath Robotics products, please email sales@clearpathrobotics.com.
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