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Connect the 2 batteries needed for the robot to function. Ask for help if you never used these LiPo batteries.
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Connect the power supply of the computer (intel NUC) to the wall and turn it on.
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Turn on the robot using the on/off button.
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Make sure the keyboard and the screen are connected to the computer (intel NUC).
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After the ubuntu loading procces, log in. Ask Juan Camilo for the creedentials.
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In the terminal use the command:
startx
This command will run i3, this is a windows manager for ubuntu. The computer in the robot runs ubuntu server. 7. For i3 you need to know 2 basic commands
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This open a new terminal
cntrl + enter
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This opens a menu in the top, this let's you search the programs installed in the computer.
cntrl + d
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Before you run some commands make sure the USB to CAN device is connected to the computer and the leds in the PCB are on.
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Now, finally you can run the next commands and make the motors move:
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The first command activate the CAN BUS communication.
sudo ip link set can0 type can bitrate 100000
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The next command runs the ROS package for CAN communication, this creates 2 important topics: \send_messages and \recive_messages
rosrun socketcan_bridge socketcan_bridge_node
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This full command runs the Champ package with the configuration for the quadruped robot TO, with Rviz on, hardware_connected is set to true wich means that you have motors and connection allowed and finally the parameter publish_joint_control, this is set to False because we want to move the joints in manual mode first.
roslaunch to_config bringup.launch rviz:=true hardware_connected:=true publish_joint_control:=false
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joint_gui.launch allows to have a graphic interface with sliders for every single motor/joint in the robot.
roslaunch champ_bringup joints_gui.launch
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Finally the code where we send commands.
rosrun to_config interface_node.py