TURTLEBOT 2
Contents
1. exposed for crimping Don t forget to shrink it with your heat gun It s time to crimp the pins on each of the two pieces The end that crimps around the sheathed wire is called the insulation crimp You may have to trim the insulation crimps if they are too long Good thing you bought spare parts Clearpath Robotics Inc 2013 All Rights Reserved 19 D cLEARPATH ROBOTICS EXPOSED BARE WIRE Crimp the MALE pins to the Power Adaptor piece and the FEMALE pins to the Laptop piece First crimp the section closest to the pin around the bare leads as shown below This will require a small size on the crimp tool Remember to perform a simple tug test to ensure you have chosen the right crimp size Because of the small size we recommend soldering the wire crimp before crimping the insulation crimp CRIMPED AROUND SHEATHED WIRE Next crimp the pins to the sheathed wire as shown below This will require a slightly larger size on the crimp tool Now that each end is crimped be sure to slide a piece of heatshrink over the pins and down the wire for later use This step is shown below Do this for both pieces Clearpath Robotics Inc 2013 All Rights Reserved 20 D cLEARPATH ROBOTICS Now the pins need to be inserted into the housings The MALE housing with the clip shown below must go on the Laptop piece while the FEMALE housing must go on the Power Adaptor piece Please note the location of eac2. CLEARPATH ROBOTICS TURTLEBOT 2 PERSONAL ROBOT USER MANUAL D cLEARPATH ROBOTICS CONTENTS CONTENTS siiciasinsansencenansapiseswsaannensnasnonsasisnsdedenenbnsesnisssdvsueeseseenssnsnerasssnl sean onneaussnemsadaeerseeonsspnenonatemseouenesess 2 IEIOOUIGEIOI PRE A E A E tenance wanenccuees ER 3 MY EL PE LE VN ET EEE EEE 3 Essenuals a 2 1 de ATT 3 GO 3 TIO Ma ACCES ONS ssc nace ioe a ee E one 3 Getting Started PE E AS EE EN eiii 4 PR 4 TurtleBot 2 Assembly INStructions ee 5 Modifying Your Existing Kinect cscsccscsscscscsccsccccscsccccsceccecessecsceccscessecececcscecescscescecesescscesseceseecnces 13 Modifying your laptop power cable ee 17 Tips and Troubleshooting ee 24 RISE 24 MOUNDS OO CIS D ns a 24 Service and SUPpPOrt www 25 Clearpath Robotics Inc 2013 All Rights Reserved 2 cLEARPATH ROBOTICS INTRODUCTION TurtleBot 2 is an easy to use personal robot for research and hobby activities In this guide you will find information about the setup and operation of your TurtleBot 2 What s Included Based on the type of TurtleBot 2 kit you have purchased the following parts are included Essentials Kit e 2 Standoffs 10x e 8 Standoffs 4x e Kinect Standoffs 2x e 6 32 Machine screws 2x e 6 Flat Washers 2x e MA4 screws 12x e M4 washers 12x e 2 2 5mm hex key 1x e 2 T10 Torx L key 1x e 5 Lobe security Bit drive 1x e TurtleBot Plate
3. the serial number Naming the computer this way helps us identify it if we need to service it e Make sure to completely overwrite the hard drive removing windows in the process e Wait while Ubuntu installs from Thumb Drive when finished reboot e Log in as user turtlebot password turtlebot e As the computer is booting you may plug the Kobuki and Kinect into the netbook Clearpath Robotics Inc 2013 All Rights Reserved 4 Q cLEARPATH oTics TURTLEBOT 2 ASSEMBLY INSTRUCTIONS Follow these instructions to build your robot from the parts in the essentials kit To start remove the Kobuki from its shipping box Take the Kobuki out of its plastic wrapping The Kobuki comes with the battery installed Clearpath Robotics Inc 2013 All Rights Reserved 5 D cLEARPATH ROBOTICS The following hardware will be required for the next step 6x 2 standoffs Insert the male ends into the 6 threaded holes as shown below Next to be installed is the bottom plate This is the plate with no logos printed on it For this step the following hardware is required 2 x M4 screws 2x M4 washers 4x 2 standoffs a 2 5 mm hex driver or the 2 L key that is included in the kit and the TurtleBot bottom plate Place the plate on the 6 standoffs Secure with 4x 2 standoffs and two M4 screws using the 2x washers provided for the screws The result is shown below 77 YUJIN ROBOT Clearpath R
4. d can accept phone calls from 9AM to 5PM Monday to Friday at our toll free number 1 800 301 3863 support clearpathrobotics com Clearpath Robotics Inc 2013 All Rights Reserved 25
5. de a piece of heat shrink over the two wires and slide it down the wire such that it is clear of the crimp ends Orient the Female Molex Housing so the small tooth shaped catch is facing up then slide the two male crimped ends into the back of the housing as shown below The brown wire should be connected into the top position Slide the crimp into the housing until a click sound is heard Check the crimp engagement by lightly pulling on the cable It should not pop out Slide the shrink wrap up to the rear of the Molex connector Shrink the wrap using a heat gun until the wrap contracts around the wire The cable should resemble that shown below Clearpath Robotics Inc 2013 All Rights Reserved 15 D cLEARPATH ROBOTICS Repeat these steps with the other side of the power cable Crimp the female ends to the cable and insert into the Male Molex Connector Place the brown wire into the bottom position of the male connector with the clip end as shown below LATCH The final product Clearpath Robotics Inc 2013 All Rights Reserved 16 cLEARPATH ROBOTICS MODIFYING YOUR LAPTOP POWER CABLE This section is aimed specifically at those users who bought a Parts kit and have their own Laptop which they would like to use with their TurtleBot WARNING This action will mostly likely void the warranty on your computer Tread carefully and proceed at your own risk The Robotsmiths highly recommend that you read through t
6. h of the pins with respect to the orientation of the housing shown below for the Laptop piece For the power adaptor piece it is a simple matter of aligning the housings and ensuring that black goes to black and white goes to white WHITE IS POSITIVE Once you are happy that all 4 pins are properly inserted into their respective housings the final step is to shrink the heatshrink WARNING BEFORE you plug in your laptop it is recommended that you test your work First ensure continuity Verify that the positive wire is connected to the inside of the barrel plug Next verify that there is nota short between the pins To test the voltage plug the Laptop section into the Kuboki s 19v port and power on Don t be alarmed that your housing doesn t have 6 pins it will still fit The outside of the barrel plug should be ground The inside should measure 19V You re done Power Adaptor section Clearpath Robotics Inc 2013 All Rights Reserved 21 D cLEARPATH ROBOTICS Laptop section Final Mating Product Clearpath Robotics Inc 2013 All Rights Reserved 22 crgARpAr Clearpath Robotics Inc 2013 All Rights Reserved 23 D cLEARPATH ROBOTICS TIPS AND TROUBLESHOOTING Mechanical Tips We do not recommend threading and unthreading any of the standoffs used in the construction of TurtleBot 2 The standoffs are made of aluminum which is a soft material prone to fatigue damage If much torque i
7. he instructions BEFORE beginning and that you follow along with the instructions as you modify your Power cable Tools Required Side Cutters Ruler Wire Stripper Terminal Crimper Heat Gun Soldering Iron Parts Required if you do not have experience crimping wires buying spares is recommended 1x Unmodified Laptop Power Cable 1x Four position Male Molex Connector Digikey P N WM3701 ND 1x Four position Female Molex Connector Digikey P N WM1018 ND 2x Male Crimp Cable Ends Digikey P N WM2502 ND 2x Female Crimp Cable Ends Digikey P N WM2501CT ND 2x Piece of Heat Shrink 2 length Digikey P N EPS2316 ND To start measure 2ft from the ferrite bead shown in the picture below Clearpath Robotics Inc 2013 All Rights Reserved 17 D cLEARPATH ROBOTICS Snip the cord at 2f shown below You now have the Power Adaptor section and the Laptop section The laptop section is the one with the barrel plug that is inserted into the Laptop Next strip the sheath from approximately 1 of the wire as shown below Do this for both pieces Clearpath Robotics Inc 2013 All Rights Reserved 18 D cLEARPATH ROBOTICS You will see a white sheathed wire and a bunch of bare wires Aggregate the bare wires into a group and twist them together as shown below Do this for both pieces Use heatshrink to cover the twisted bunch of bare wires Do this for both ends In this step the goal is to leave about
8. obotics Inc 2013 All Rights Reserved 6 D cLEARPATH ROBOTICS Now it is time to modify your Kinect This will require your Kinect the 2x Kinect standoffs the kit and a security screw tool To start slide a flat head screw driver under the grill of the Kinect as shown and remove the grill Do this for each grill JTE DIE xoqX U Halfway there ms we Clearpath Robotics Inc 2013 All Rights Reserved 7 D cLEARPATH ROBOTICS Grill removed Now remove the 2 outermost screws from the Kinect Note that these are tamper proof screws If you purchased the Essentials kit the appropriate tool is supplied Applying moderate axial force to the screw through the tool red arrow loosen the screw Clearpath Robotics Inc 2013 All Rights Reserved 8 cLEARPATH ROBOTICS Thread the two Kinect standoffs into the holes as shown The flat of the threaded surface of the Kinect standoff should be flush with the edge of the Kinect housing as shown below This is crucial for sensor stability Clearpath Robotics Inc 2013 All Rights Reserved 9 D cLEARPATH ROBOTICS Now attach the kinect to the second plate You will need 2x 6 washers and 2x 6 32 screws These are the black fasteners in your kit The result of this step is shown below Orientation is important so ensure that the Kinect faces the same direction as the turtle that is printed on the plate Take this complete assembly and m
9. ount it to the ongoing Turtlebot assembly using 4x 8 standoffs The result is shown below Clearpath Robotics Inc 2013 All Rights Reserved 10 cLEARPATH ROBOTICS The final step is to secure the top plate onto the 4x 8 standoffs using 4x M4 screws and washers Assembly Complete r Now it s time to plug the Kobuki USB cable into its port Clearpath Robotics Inc 2013 All Rights Reserved 11 D cLEARPATH ROBOTICS Plug the modified Kinect cable into the Base with the tab facing down For the Kinect modification kit see the next page _ Download ey Operation After taking the USB stick and running the ROS install on your laptop you may plug the Kobuki and the Kinect into the laptop via USB ports Good luck on your adventures into the wide world of Science Clearpath Robotics Inc 2013 All Rights Reserved 12 D cLEARPATH ROBOTICS MODIFYING YOUR EXISTING KINECT This section is aimed specifically at those users who bought a Parts kit and have their own Microsoft Kinect which they would like to use with their TurtleBot WARNING This action will mostly likely void the warranty on your Kinect Tread carefully and proceed at your own risk The Robotsmiths highly recommend that you read through the instructions BEFORE beginning and that you follow along with the instructions as you modify your kinect Parts required 1x Kinect Cable Modification Kit 1x Your existing Kinec
10. s 1x bottom plate 1x mid plate 1x top plate e USB stick Turtlebot installer 1x e Kobuki with 2200 mAh Li lon battery and Li lon charger 1x e Kinect modification kit 1x Complete Kit e M4 screws 6x e M4 washers 6x e 2 2 5mm hex key 1x e 2 T10 Torx L key 1x e One fully assembled TurtleBot 2 e Formatted laptop with Ubuntu and ROS installed 1x e Microsoft Kinect 1x e USB stick Turtlebot installer 1x e Modified Kinect cable 1x Optional Accessories e Docking Station e Large 4400 mAh Li ion battery Clearpath Robotics Inc 2013 All Rights Reserved 3 D cLEARPATH ROBOTICS GETTING STARTED This section details how to set up your PC PC Setup If you purchased a fully assembled unit from Clearpath Robotics it is set up and ready to go The user login and password are both turtlebot Otherwise you will require the laptop and the included USB Thumb Drive which contains the ROS installer Instructions are below e Plug in and charge the netbook e Insert USB Thumb Drive into the netbook while powered off To access the Ubuntu installer on the USB stick you must enter the boot selection menu by pressing Escape when the ASUS loading screen appears o Onthe Asus netbook power on and press Escape at startup select Generic Flash Disk e You will need to go through the Ubuntu installer like normal enter turtlebot as the user and password and turtlebot xxxx as the computer name where xxxx is
11. s used repeatedly on these parts the threads will wear out This recommendation also applies to the Kinect standoffs which are threaded into the plastic Kinect housing Once again repetitive removal and insertion of these parts into the Kinect will cause the holes to wear and become ineffective Troubleshooting This section lists a few possible issues which may be encountered Don t forget to consult the Kobuki user manual if required e Robot won t turn on Be sure that the battery is seated properly before charging e Kinectis not responding and green light on Kinect adapter is off Either issue a motion command to the Create or use the SetTurtlebotMode service in turtlebot_node to change the mode to full mode If you re having some trouble that you don t see here or the suggested solution isn t working out please get in touch and our expert team of Robot Whisperers will help you out however possible Please visit the following website for TurtleBot driver information http www ros org wiki Robots TurtleBot And to find answers to all of your TurtleBot questions check out http answers ros org For general ROS support or suggestions a broad list of options can be found at http www ros org wiki Support Clearpath Robotics Inc 2013 All Rights Reserved 24 9 crgARpAr SERVICE AND SUPPORT Clearpath Robotics is committed to your success and satisfaction We are located in Kitchener Ontario an
12. t Power Cable Tools Required Side Cutters Ruler Wire Stripper Terminal Crimper Heat Gun Locate the Kinect Cable Modification Kit Bag found in the Turtlebot Parts Kit Verify the quantity of components found in the Modification Kit Bag 1x Two position Male Molex Connector Digikey P N WM1783 ND 1x Two position Female Molex Connector Digikey P N WM2259CT ND 4x Male Crimp Cable Ends Digikey P N WM2777CT ND 4x Female Crimp Cable Ends Digikey P N WM2259CT ND 2x Piece of Heat Shrink 2 length Example Digikey P N EPS2316 ND Clearpath Robotics Inc 2013 All Rights Reserved 13 D cLEARPATH ROBOTICS Lay the Kinect Power Cable flat then cut the cable three inches from the end of the ferrite filter block The Location is displayed below Strip one inch of the plastic sheath on each end of the power cable to expose the enclosed wires as shown below Use care to not damage the insulation on the wires Remove the two thin black plastic threads using side cutters leaving the brown and white wires intact A Strip the brown and white wires to expose 1 8 of wire on both ends of the cable Twist the stranded ends to form the wire into one piece as shown below Clearpath Robotics Inc 2013 All Rights Reserved 14 D cLEARPATH oTics Slide one male crimp end over a section of stripped wire Crimp the male end until it cannot be removed from the wire Repeat these steps for the remaining wire Sli
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