Quickstart

This page guides you through a quick first set-up of the system. It aims to provide some hands on experience without the need of extensive prior knowledge.

  • Prepare the Robot:

    • Flash the nrf-Dongle with the latest dongle firmware
    • Connect the nrf-Dongle to the Pololu using the nrf-Breakout Board
    • Connect the Raspberry-Debug-Probe and a USB-C cable to the robot
    • Flash the firmware using the following command (if you want to read on how the flashing works, read here):
      ./run 3pi menu

  • Prepare the Trajectory:

    • Change the name of the corresponding robot configuration file in folder cfg to ROBOTCFG.CFG and paste the tuned robot configuration file into a micro sd card. Please DO NOT CHANGE the name of the configuration file, the file system depends on the file name to distinguish configuration file from other files.
    • Change the trajectory file name to TRJ0001.JSN and paste it into a micro sd card. Your trajectory file should be in the same format as the provided ones. Please DO NOT CHANGE the name of the trajectory file, the file system depends on the file name to distinguish trajectory file from other files. <!-- Same question here, we should also put in a file with "trajectory generation"

    Where are the files located -> pointer --> - Prepare the Trajectory Following ROS Node: - Set up ROS - Connect a Crazyradio PA or Crazyradio 2 - Change the address for each robot in workstation_ros/src/pololu_ros/config/controller_interface.yaml. - Open the workstation_ros folder and build the ros2 workspace using:

        colcon build
    • Plug an Xbox controller (wired or wireless with USB adapter) to your PC

  • Execute:

    • Open a terminal and run:

      source install/setup.bash
ros2 run pololu_ros controller_interface

    • Use the buttons on the joystick to select different functionalities. joystick_menu

    • Select your robot and "trajectory following w/o MC"

    • Confirm with "X"
    • Start the motion with "A"
    • Stop your robot with "B"

Congrats! You successfully moved your robot! If you have any trouble try too look at the general troubleshooting page or the specific chapters for Ros and Build.