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KTH-RPL Pluto ATRV Robot

Why do we need this?

  1. The iRobot ATRV was released in 2007, and as such support from iRobot is no longer offered. This repo provides drivers and instructions for setting up and running Pluto with the use of a wireless controller.
  2. The goal is to utilize Pluto for data collection in an outdoor/rugged environent.
  3. This specific readme only details how to run Pluto. For installation and configuration please refer to the install readme.
  4. The wireless controller used is the Logitech F710 Wireless Gamepad. Refer to install readme for its setup.

Test system: Ubuntu 20.04, ROS Noetic

Author: Miguel Garcia Naude

Sensor setup:

  • add later on
Front-Side Top-Back
picture alt picture alt

Power On

  1. At the back of the robot, flick the grey switch from left to right (main power switch).
  2. On top, towards the back of the robot, press and release the knob on the right of the display, this will power on the robot propriety rFlex compute.
  3. Using the knob, scroll to setting labelled Brake, push the knob down, and ensure that the screen displays Brake: off in the bottom right.

Power Off

  1. Shutdown the NUC (from terminal: sudo poweroff)
  2. Using the knob and display at the back of the robot, scroll to PWR and push the knob.
  3. Proceed to scroll to Shutdown PC and push the knob.
  4. Flick the grey switch at the back of the robot from right to left.

Build & Run

Note again: see install readme for installation instructions

The path to the ATRV drivers and Pluto code on the NUC is:

atrv-nuc@atrvnuc-desktop /home/atrv-nuc/catkin_ws

Build

cd ~/catkin_ws
catkin build
source devel/setup.bash

Run

Connecting to INTEL NUC

Connect your laptop to the network pluto-net

In a new terminal:

ssh [email protected]

Enter the NUC's password (robot)

Running ROS program

In the terminal connected to the Intel NUC

roscore

In a new terminal:

roslaunch pluto pluto.launch

Should see:

[ INFO] [1691586146.958756627]: Attempting to connect to /dev/ttyUSB0 # pluto serial connection
[ INFO] [1691586146.959305916]: in initialize
[ INFO] [1691586146.969091000]: Connected!

And odometry information should begin posting to terminal.

Use of Wireless Controller

  1. To begin using the wireless controller, press and release the LB button.
    1. This button acts as a handbrake and the robot will only recieve velocity commands after it is deactivated.
  2. Use the left pad to control the robot.
  3. Use the LT trigger to increase and degreas speed.

Issues

Some common problems are addressed below.

  1. Cannot open /dev/ttyUSB0: Permission denied #26
    esp8266/source-code-examples#26
  2. Issues with serial communication
    add stuff here