Operations

Chair Operations

This document outlines some of the basic chair operations, including bringup/shutdown of the system, charging, etc.

Hardware

1. Turn on the fuse.
2. Turn on the system switch for components.
3. Turn on the chair and make sure battery level is sufficient.
4. Turn on the NUC.
5. Verify that all ports on the USB hub are lit up.
6. Wait until the NUC boots up (check the connected screen)

Software

NOTE: Device names, usernames, and IP addresses used are specific to our devices, project, and project members. Please modify names and IPs accordingly.

1. Make sure your ground station laptop is connected to OLIN-ROBOTICS.
2. ssh into the NUC and the Raspberry Pi.
   1. (NUC) ssh [email protected]
   2. (Pi) ssh [email protected]
3. Setup remote ROS connections:
   1. (NUC) ros_setup 192.168.16.61
   2. (Pi) ros_setup 192.168.16.72 192.168.16.61
4. Start screen (to avoid managing multiple ssh sessions):
   1. (NUC & Pi) screen (press enter to exit out of help messages)
   2. type screen --help for working with GNU screen
5. Start roscore on the NUC:
   1. (NUC) roscore
6. Start the R-NET interface:
   1. (Pi) sudo ifdown can0
   2. (Pi) sudo ip link set can0 type can restart-ms 10
   3. (Pi) sudo ifup can0
   4. (Pi) roslaunch pwm_driver permobil_m300.launch
7. Start up sensors:
   1. (NUC) (LiDAR) rosrun urg_node urg_node _ip_address:=192.168.0.10
   2. (NUC) (RealSense) roslaunch realsense2_camera es_rgbd.launch
   3. (NUC) (Arduino) TODO
8. Launch visualizations:
   1. (Groundstation) ros_setup 192.168.16.51 192.168.16.61
   2. launch rviz
      1. Select "camera_link"
      2. Add "point_cloud2"
9. CAN related configurations: TODO

Maneuvering the Wheelchair

Keyboard Controls

1. Launch: TODO
2. Buttons: TODO

Xbox360 Controller

1. Launch: TODO
2. Buttons:

April Tag

1. Launch: TODO
2. Buttons: E-STOP

Connecting the E-Stop

Shutdown