Starting up and shutting down AMIGO

Starting up AMIGO

• Put four fresh batteries in AMIGO. If you don't attend to start driving immediately, you might replace one battery with the power supply. Make sure this is set up at 24 V.
• Switch on AMIGO using the main switch located on AMIGOs back.
• Turn on all three PC's.
• A number of ''standard'' nodes are autostarted along with a roscore on amigo1. This contains:
  • webui
  • diagnostics: checks on battery status etc.
  • sensors: laser range finders and cameras
  • amigo_state_publisher: gathers all joint data that is received from the low level publishers and links them to the corresponding tf frames generated by the urdf model
• If AMIGO's lights turn yellow, the nodes are running.
• Start the dashboard by clicking the dashboard icon or by entering adashboard in a terminal.
  • It has proven to be convenient to have the dashboard always on the visible workspace. Therefore, right-click on the titlebar of the dashboard and tick "always on visible workspace".
  • The dashboard contains:
    • Hardware:
      • All
      • Base
      • Spindle
      • Left arm
      • Right arm
      • Head
    • Emergency switches:
      • Wired
      • Wireless
    • Battery status indicator
• Home the hardware by clicking the left All button and subsequently the Home button.
  • If the spindle suddenly drops, click All, Restart and try again.

Now AMIGO is ready to go: it listens to joint reference trajectories and will execute these. Now you can continue to the middleware tutorial.

Shutting Down AMIGO

Make sure that every terminal is stopped with Ctrl+c. Then press every power button of the computers on Amigo to shut them down. After all computers on Amigo have shut down, press the green main switch to shut down Amigo.

Further Tutorials

Usually, it is also necessary to start the middle-level planning and control systems and possibly a challenge. Hereto, go to Middleware