ME/CS 132a, Winter 2010, TA Info: Difference between revisions
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== Power-on sequence == | |||
Pioneer robot: | |||
# Turn on the robot | |||
# Connect one end of the serial cable to the robot, and the other end to the laptop via a USB-serial adapter (note: the new ones don't seem to work, do not use them). | |||
SICK laser: | |||
# Plug two gun batteries into the Y-junction. This needs to be done '''before''' connecting the batteries to the laser, so that the output is 24V. Do not step up from 12V to 24V during power-on. | |||
# Plug the other end of the Y-junction to the SICK laser. | |||
# Connect the laser to the serial port on the RS422-RS232 converter box. | |||
# Connect the converter box to the laptop via USB. | |||
# Wait until the indicator light becomes green. | |||
== Test the laser using playerv == | == Test the laser using playerv == | ||
First run the player config file with laser loaded only:<br><tt>$ player laser.cfg </tt> | First run the player config file with laser loaded only:<br><tt>$ player laser.cfg </tt> | ||
In another terminal window, run the visualization program playerv: <br><tt>$ playerv --laser:0</tt><br> | In another terminal window, run the visualization program playerv: <br><tt>$ playerv --laser:0</tt><br> | ||
Revision as of 02:24, 6 February 2011
Power-on sequence
Pioneer robot:
- Turn on the robot
- Connect one end of the serial cable to the robot, and the other end to the laptop via a USB-serial adapter (note: the new ones don't seem to work, do not use them).
SICK laser:
- Plug two gun batteries into the Y-junction. This needs to be done before connecting the batteries to the laser, so that the output is 24V. Do not step up from 12V to 24V during power-on.
- Plug the other end of the Y-junction to the SICK laser.
- Connect the laser to the serial port on the RS422-RS232 converter box.
- Connect the converter box to the laptop via USB.
- Wait until the indicator light becomes green.
Test the laser using playerv
First run the player config file with laser loaded only:
$ player laser.cfg
In another terminal window, run the visualization program playerv:
$ playerv --laser:0
