tortoisebot_pro_max_docs

TortoiseBot Pro Max

ROS1 Noetic and ROS2 Galactic is installed in TTB PM. By default Noetic is sourced every time a terminal is opened.

We assume that you have a Laptop or a System that is running Ubuntu 20.04 with ROS Noetic installed.

Master slave

We will be making the robot as a Master and the Laptop /PC as slave device:

1. First connect HDMI cable between robot and monitor screen.
2. Turn on the robot by pressing the switch at back side of robot , this will play a tune from buzzer which assures everything is turned on.

buzzer_sound.mp4

3. Once display is turned on connect to Wi-Fi.

4. Get IP address of TortoiseBot Pro Max by following command:

   hostname -I 

5. Same command is to be used to get IP address of your system (i.e. Laptop/PC)

6. The following is to be done in ubuntu of Laptop/PC:

   Lets open the .bashrc file manually.

   In order to do that, open the home directory of your system (Laptop /PC).Press Ctrl + H to unhide the files as .bashrc is a hidden file. Add the below commands at the end of .bashrc

   export ROS_MASTER_URI=http://{ip of TortoiseBot Pro Max}:11311
   export ROS_HOSTNAME={ip of your system}
   
   #for example
   export ROS_MASTER_URI=http://192.168.0.166:11311
   export ROS_HOSTNAME= 192.168.0.125

7. For SSH

   ssh username@IP_address

   Username of TTB PM is iisc1 , iisc2 , iisc3 , iisc4 , iisc5. Username of particular robot can be found below the robot on a sticker.

8. Password for all robot is same and it is

   rbl@IISC 

   rbl is in smaller case and IISC is in upper case.

Bring Up

It provides roslaunch scripts for starting the TortoiseBot Pro Max base functionality.

roslaunch tortoisebotpromax_firmware bringup.launch

This is to be done in robots terminal

By default robot will take encoder feedback during its motion . If PID is to be turned off than a parameter pid:=false is to be passed.

roslaunch tortoisebotpromax_firmware bringup.launch pid:=false

This is to be done in robots terminal

Teleoperation's

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

This is to be done in robots terminal. Max linear speed is to be kept 0.2 m/s and max angular speed 1.0 rad/sec

Battery charging

1. Robot is to be turned off before charging it and robot is not functional during charging.

This is how charger is to be plugged in

Green light on MAINS ON and CHARGER ON indicates that charging process is going on smoothly.

When battery is low , it will show indication on universal cell indicator as well as buzzer will start beeping as show in video

battery_low.mp4