Software Installation

Using ROS 2

The following packages are tested on ROS 2 Humble on Ubuntu 22.04. Please follow ROS2 Humble installation instructions, if you have not already installed ROS 2 on your system.

Setup Colcon Workspace

Colcon is the build system used by ROS 2. The following instructions to install colcon and creating a workspace is referred from this link.

Installing Colcon

sudo apt install python3-colcon-common-extensions

Creating a Workspace

source /opt/ros/humble/setup.bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build

Note

The ~/workspace_name/ directory (in the above example, it is ~/ros2_ws/) is termed as root of the workspace. In ROS2, while building the packages in a workspace, colcon build should be run from the root of the workspace.

Cloning Repositories

kelo_interfaces repository consists of the custom messages and services used in the project. kelo_tulip repository consists of the packages to control the robot.

Clone both the repositories in the src directory of the workspace.

git clone git@github.com:secorolab/kelo_interfaces
git clone -b ros2 git@github.com:secorolab/secorolab/kelo_tulip

Build the packages and source the workspace

cd ~/ros2_ws
colcon build
source ~/ros2_ws/install/setup.bash

ROS Independent Installation

git@github.com:secorolab/freddy_pmu_control.git

Powering the Robot

Steps to Power On

Step1: Hold the power button on the base of the robot until the green LED turns on. Now the green LED light on the torso of the robot will start blinking and the red LED will turn on. This represents safe mode.

Step2: If not already done, pull the red coloured emergency button on the RE5910 and wait until the green LED on it to turn on. Now press the green button on the RE5910 and the same green LED will start blinking.

Step3: Now press the green button on the torso of the robot. The green LED on the torso will turn on and the red LED will turn off. This represents operational mode of the robot. Now the robot’s wheels will by default get the power and are available for communication. To enable power supply to the arms, a command needs to be sent to the PMU board. This is further discussed in the section describing the commands to control the power of the robot.

Steps to Power Off

Method1: Hold the power button on the the base of the robot until it starts blinking and then release it.

Method2: Send the SHUTDOWN command to the PMU board. This is further discussed in the section describing the commands to control the power of the robot.

Charging the Robot

Connect the charger to the charging port on the robot’s base. The blinking green LED on the base of the robot indicates that the robot is charging. The robot can be charged while it is powered on or off.