FroboMind:Tutorials:Mobotware
This page contains a tutorial on how to use FroboMind with Mobotware based robots like the Small Mobile Robot (SMR). For more information about Mobotware and SMR please visit the Small Mobile Robot page.
Overview
This tutorial is based on two FroboMind components:
fmApp/dtu/dtu_smr_wptnav fmLib/platform_support/dtu_smr
The dtu_smr component provides the interface to Mobotware through a socket connection to the Mobotware Mobile Robot Controller (MRC). The dtu_smr_wptnav component is an application that supports remote control using a Wiimote as well as autonomous waypoint navigation of a SMR. The application includes files for simulation the SMR using Stage.
Running FroboMind and Mobotware
The instructions below explains how to launch the FroboMind application dtu_smr_wptnav on a SMR robot.
1. Install FroboMind on a laptop.
2. Connect the laptop to a SMR using an ethernet cable.
3. Configure the laptop IP address to 192.168.2.209
4. SSH to local@192.168.2.210 and enter the provided password.
5. First time only run this command to detach the SMR from the DTU wireless network:
sudo switchtool local
6. Each time before launching FroboMind run this command to start the MRC server:
mrc -t1
7. Run this command to launch FroboMind:
fmApp/dtu_smr_wptnav/bin/wptnav.sh
8. Connect a Wiimote to the SMR by pressing the Wiimote "1" and "2" button simultaneously.
9. The SMR is now active and starts up in remote control mode.
10. When finished run this command to reattach the SMR to the DTU wireless network:
sudo switchtool
11. Shut down the SMR.
The instructions below explains how to launch the FroboMind application dtu_smr_wptnav in a simulated environment using Stage.
1. Install FroboMind on a laptop
2. Run this command to launch FroboMind:
fmApp/dtu_smr_wptnav/bin/sim_wptnav.sh
3. Connect a Wiimote to the simulator by pressing the Wiimote "1" and "2" button simultaneously.
4. The simulator is now active and starts up in remote control mode.
Application users guide
The dtu_smr_wptnav application enables remote control and autonomous waypoint navigation:
Remote control
Remote control is performed using a Nintendo Wiimote connected to a laptop through Bluetooth. When following the instructions below FroboMind starts up in remote control mode and when holding down the Wiimote "B" (dead man) button the SMR will move based on the Wiimote orientation.
Autonomous waypoint navigation is enabled by pressing the Wiimote "1" button. When holding down the Wiimote "B" (dead man) button the SMR will then navigate the current waypoint list. Waypoint lists are stored in:
fmApp/dtu_smr_wptnav/waypoints
and the current waypoint list is configured in
fmApp/dtu_smr_wptnav/bin/wptnav.sh
When pressing the Wiimote "2" button FroboMind returns to remote control.
