Difference between revisions of "ME/CS 132a, Winter 2010, TA Info"

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(Created page with '== Test the laser using playerv == First run the player config file with laser loaded only:<br><tt>$ player laser.cfg </tt> In another terminal window, run the visualization pro…')
 
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== Power-on sequence ==
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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.
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# 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.
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# 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:

  1. Turn on the robot
  2. 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:

  1. 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.
  2. Plug the other end of the Y-junction to the SICK laser.
  3. Connect the laser to the serial port on the RS422-RS232 converter box.
  4. Connect the converter box to the laptop via USB.
  5. 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