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RobuROC4

1. Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TimeStamp 8 bytes type UInt64 Notification date This date corresponds of the number of low level cycle since power on This low level period is 10 ms D_1 to D_n fields n blocs composed of 4 bytes type Float32 Distances values in meters Refer to the properties to know the number n of telemeters ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 21 Tonos lutior 4 2 4 6 Battery status The status telegram is the following RobuROC4 User s Manual Field Field size description Header 1 byte type unsigned char Header of the datagram Value 255 0xFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TimeStamp 8 bytes type Ulnt64 Notification date This date corresponds of the number of low level cycle since power on This low level period is 10 ms State 1 byte type Ulnt8 Description of the battery state Value e 0 0x00 Charging The battery is cur
2. type Value indicating the type of element you want to receive unsigned char the string description Value e 0x00 Analog inputs e 0x01 Analog outputs e 0x02 Digital inputs e 0x03 Digital outputs Index 4 bytes type Index of the element you want to receive the string Int32 description Value e 0x00000000 first element e 0x00000001 second element e e Refer to the properties to know the number of available components of each type ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 18 ro bosoft lutior RobuROC4 User s Manual The answer telegram is composed as follows Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type QUERY unsigned char Value 1 0x01 Target 2 bytes type Instance number of the service that sends the description short Value ID of the service that sends its description refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error String N bytes type String description of the element Char The number of characters is the number of characters of the UDP message 5 header action target error 4 2 3 4 Telemeter description No available description for this service 4 2 3 5 Battery description No available description for this service
3. New orientation of the Robot in radians in the main frame ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 26 robosoft RobuROC4 User s Manual Roboti olution 4 2 6 6 Differential replace No available replace telegram for this service ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 27 robosoft RobuROC4 Advanced User s Manual Robotics Solutions 5 Appendix 5 1 Control panel Identifier Description A Battery level indicator B Brakes management selector e Released used to be able to push the platform In this position the motors power cannot be enabled e Automatic The brakes are managed by the low level software Button used to enable the motor power To be able to do this both the local and remote emergency stops must be released Local Emergency stop button Press it to disable the motor power Main power switch Use it to turn ON OFF the entire platform Connector of the battery charger Turn OFF both the battery charger and the platform before plugging the battery charger n my O ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 28 robosoft RobuROC4 Robotic User s Manual 5 2 Remote emergency stop Identifier Description A This button has 2 functions e First use Enable the link between the remote control and the receiver e Other uses Enabling the motor power d
4. type QUERY unsigned char Value 1 0x01 Target 2 bytes type Instance number of the service that sends the description short Value ID of the service that sends its description refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error String N bytes type String description of the service char The number of characters is the number of characters of the UDP message 5 header action target error ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 17 ro bosoft lutior 4 2 3 2 Notification description No available description for this service 4 2 3 3 lOCard description lOCard allows using inputs outputs and is composed of 4 types e Analog inputs type value is 0x00 Analog outputs type value is 0x01 e e Digital inputs type value is 0x02 e RobuROC4 User s Manual Digital outputs type value is 0x03 The number of elements of each type is in the service s properties Send the following telegram to request the string description each element of each type Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type QUERY unsigned char Value t4 0x01 Service ID 2 bytes type ID of the service that has to send properties short refer to 4 2 1 section to get the services IDs Type 1 byte
5. 1 Presentation The RobuROC4 is a differential platform with 4 independent wheels integrating the following components e 4 servo drives and resolvers to control the wheels motors 2 ultrasonic telemeters 2 bumpers 1 wireless emergency stop system 1 wireless game pad The platform can be controlled in 2 modes e Game pad mode a game pad allows to move the platform e UDP mode UDP telegrams allow the user to make its own application Each of these modes can control the system with different priorities Highest priority Game pad mode Lowest priority UDP mode wy These priorities on the control modes allow for example to use UDP mode and take ASP temporary the control of the platform using the game pad in case of problem ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 3 robosoft RobuROC4 Advanced H Robotics User s Manual Solutions 2 2 Dimensions Main dimensions of the vehicle are 750 x 1310 x 770 mm 560 mm 1310 mm 560 mm ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 4 robosoft RobuROC4 nn rain ena User s Manual Robotics Solutions 2 3 Coordinate system ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 5 robosoft RobuROC4 Advanced User s Manual Robotics Solutions 3 Quick start 3 1 Requirements e Pc with Windows XP SP2 and application Microsoft CCR and DSS Runtime 2008 R3 Redistr
6. 4 2 3 6 Localization description No available description for this service 4 2 3 7 Differential description No available description for this service ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 19 ro bosoft Oluttior 4 2 4 Services status It is possible to receive periodically the status of each service To receive this status it is mandatory to send a subscribe telegram for each service only one time at the startup of your application for example EM A 4 2 4 1 Subscribe telegram When this datagram is sent status are sent periodically by the corresponding service RobuROC4 User s Manual It is important to get properties so that status telegrams can be properly decoded Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type INSERT unsigned char Value 4 0x04 ID Not 2 bytes type Instance number of the notification service short Value 1 0x01 ID Service 2 bytes type ID of the service you want to subscribe to receive status short notifications refer to 4 2 1 section to get the services IDs Period 1 byte type Period of the status sending Value is number of low unsigned char level cycles that means number of 10ms Example 10 0x0A 2 100ms 4 2 4 2 Directory status Status is not available for the directory service A subscribe tel
7. 64210 BIDART Tel 33 0 559 415 360 Page 9 ro bosoft 4 2 2 Services properties It is possible to receive the properties of each service To receive data the request telegram must be sent WY Cp 4 RobuROC4 User s Manual It is important to get properties so that status telegrams can be properly decoded and command telegrams can be correctly sent 4 2 2 1 General request properties telegram When this datagram is sent properties are received as an answer Header 0x01 Action 0x00 Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Service ID 2 bytes type ID of the service that has to send properties short refer to 4 2 1 section to get the services IDs 4 2 2 2 Directory properties telegram Send a request telegram to receive these properties Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error Type_1 2 bytes type Type of the first service
8. Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 16 robosoft RobuROC4 User s Manual 4 2 3 Services description In addition of the services properties it is possible to receive extra information requesting the service description Most of the time when exists this description contains strings describing the services inputs outputs 4 2 3 1 Directory description This service lists other services The number of services can be known requesting the properties of the directory service Send the following telegram to request the string description each service recorded in the directory s list Header 0x01 Action 0x01 List_ID Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type QUERY unsigned char Value 1 0x01 Service ID 2 bytes type ID of the service that has to send properties Ulnt16 refer to 4 2 1 section to get the services IDs Value O 0x0000 for Directory service List ID 2 bytes type Index of the element in the directory s list you want to Ulnt16 receive the string description Value from 0 to n 1 nis the number of services can be received reading the directory s properties The answer telegram is composed as follows Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte
9. order of the devices is the following ID Description 00 Front ultrasonic sensor 01 Rear ultrasonic sensor 5 5 3 Battery Service The Front left servo drive is used to monitor the battery voltage This voltage is used by the Battery service 5 5 4 Localization Service The front left and front right servo drive encoder feedbacks are used to compute localization 5 5 5 Differential Service The 2 left drives are receiving the same command the 2 right drives are receiving the same command ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 32
10. properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error ID_1 2 bytes type ID ofthe first service recorded for status notifications Ulnt16 P 1 1 byte type Period of the status sending of the first service Value is unsigned char number of low level cycles that means number of 10ms Example 10 0x0A 2 100ms Type n 2 bytes type ID of the n service recorded for status notifications Ulnt16 The number n of services can be computed using the number of bytes size of the received UDP message n size 5 3 ID n 1 byte type Period of the status sending of the n service Value is unsigned char number of low level cycles that means number of 10ms Example 10 OxOA gt 100ms The number n of services can be computed using the number of bytes size of the received UDP message n size 5 3 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 11 ro bosoft RobuROC4 User s Manual 4 2 2 4 OCard properties telegram Send a request telegram to receive these properties Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Inst
11. see description for a string UInti6 description ID_1 2 bytes type ID of the first service this ID is used for UDP Ulnt16 communication Type_n 2 bytes type Type of the n service see description for a string Ulnt16 description The number n of services can be computed using the number of bytes size of the received UDP message n size 5 4 ID n 2 bytes type ID of the n service this ID is used for UDP Ulnt16 communication ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 10 robosoft RobuROC4 User s Manual tior The number n of services can be computed using the number of bytes size of the received UDP message n size 5 4 4 2 2 3 Notification properties telegram It is possible to receive periodically the status of each service To receive this status it is mandatory to send a subscribe telegram for each service only one time at the startup of your application for example to the notification service The properties of the notification service contain the list of the services that will send status periodically Send a reguest telegram to receive these properties Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends
12. 5 360 Page 24 robosoft RobuROC4 ER ig User s Manual 4 2 5 3 Telemeter command No available command telegram for this service 4 2 5 4 Battery command No available command telegram for this service 4 2 5 5 Localization command No available command telegram for this service 4 2 5 6 Differential command The command telegram is the following Header OxFF TLS TAS Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TLS 4 bytes type Float32 Target linear speed in meters second TAS 4 bytes type Float32 Target angular speed in radians second A Watchdog is used to secure the communication If no command is received in a given delay default value is 1000ms the vehicle is stopped It is possible to modify this watchdog value To do this A e connect the low level controller e ect te udpserver cfg file e find and modify the Watchdog field of the DifferentialService section e units are numbers of low level cycles duration 10ms ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 25 robosoft RobuROC4 EL Le Users Manual lutior 4 2 6 Services replace It is possible force the state of a s
13. 64 Orientation of the Robot in radians in the main frame State 4 bytes type Ulnt32 Set of flags indicating the state of the localization system Value is composed with this bits e Bit 0 Invalid Indicates the localization is not valid e Bit_1 Metric Indicates that the solution has a metric accuracy e Bit 2 Decimetric Indicates that the solution has a decimetric accuracy e Bit_3 Centimetric Indicates that the solution has a centimetric accuracy e D 4 Proprioceptivelnput ndicates that the solution was computed using proprioceptive sensors e Bit_5 Exteroceptivelnput Indicates that the solution was computed using exteroceptive sensors e Bit 6 Error Indicates that the solution provider has encountered a fatal error ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 23 ro bosoft 4 2 4 8 Differential status The status telegram is the following RobuROC4 User s Manual Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TimeStamp 8 bytes type UInt64 Notification date This date corresponds of the number of low level cycle since power on
14. AE RE Ge ee 24 4 2 6 Services Tele ie se Re AA Ge AR Ge AA Ke AR AR Ge AA AR Ge AA AA Re Ke ee AR ee Ke ee Ke ee 26 Append AN RE ee ee ee De Ee EO Ee DR Ee ER EE 28 5 1 Welle E E 28 5 2 Remote emetdenBy SLOP EEEE 29 5 3 Changing the IP settings see se ee Ge AR Ge AA AA ee AR Ge AA AR Ge AA ee AR Re AA Aa ee ee ee AR ee 29 5 4 Tue Tee ei KA EE EE ER EE 30 5 5 Links Hardware ServlGeS es iese sesde Vse Ne gig kk ese N de dee ee sa N Rd GAN Ge Rek de dae EE eege 30 5 5 1 JOG lie ee OE OE EE N RE EE 30 552 ES RA EE EE EE OE EE ER 32 55 3 so EL MEE EE OR RE N OE EO 32 D54 Localization Service id ss ee ige Eg ed eg Ee ig ed Se Rd E EN ged eg ee Ee ede dog 32 5 5 5 oi TE el ee EE EE EE EN 32 robosoft RobuROC4 rig og Users Manual 1 About this document 1 1 Attention Symbols The following symbols are used throughout this document to draw attention to important operating information special instructions and warnings d Note Pertinent information that clarifies a process operation or ease of use preparations i e regarding the product Warning Instructions to avoid harming yourself or damaging the equipment 1 2 Revision History Revision Date Author Changes A 09 03 2011 Laurent DUCRET Creation of the document ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 2 robosoft RobuROC4 Crete User s Manual Solutions 2 Product description 2
15. This low level period is 10 ms TLS 4 bytes type Float32 Target linear speed in meters second CLS 4 bytes type Float32 Current linear speed in meters second TAS 4 bytes type Float32 Target angular speed in radians second CAS 4 bytes type Float32 Current angular speed in radians second 4 2 5 Services commands It is possible to send commands to services in order to control the robot DM Cp 4 4 2 5 1 Directory command No command telegram available for this service 4 2 5 2 OCard command The command telegram is the following It is important to get properties so that command telegrams can be properly sent Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs AO 1 to AO n n blocs composed of Analog outputs values generally in volts fields 4 bytes type Float32 Refer to the properties to know the number n of analog outputs DO_1 to DO_m mblocs composed of Digital outputs values fields 1 byte type unsigned Each bloc contains 8 digital outputs values char Refer to the properties to know the number nDO of digital outputs m nDO 1 8 1 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 41
16. ance number of the service that sends properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error Nb_Al 4 bytes type Number of analog inputs of the service Int32 Nb AO 4 bytes type Number of analog outputs of the service Int32 Nb DI 4 bytes type Number of digital inputs of the service Int32 Nb DO 4 bytes type Number of digital outputs of the service Int32 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 12 ro bosoft 7 RobuROC4 User s Manual 4 2 2 5 Telemeter properties telegram Send a request telegram to receive these properties Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error n 4 bytes type Number of telemeters managed by this service Int32 A 4 bytes type X coordinate of the first sensor in meters in the robot Float32 frame Y 1 4 bytes type Y coord
17. are then ignored but the return of UDP status is still active A Attention When the M button is released the UDP mode resumes control Action Game pad button Turn ON the game pad Hold this button 3 seconds to power the game pad The green LEDs must stay fixed Activate game pad mode a Hold this button to activate this mode If this button is released the UDP mode is active Forward speed RT Gradually press this button to reach the desired linear speed Backward speed LT Gradually press this button to reach the desired linear speed Gradually move this button to the right or the left to reach the EG Lo desired angular speed ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 8 robosoft RobuROC4 User s Manual 4 2 UDP mode 4 2 1 Presentation It is possible to create its own software to control the system The computer used should be connected to the onboard computer system by a network interface Comments e The software created must be a UDP client e The UDP server has the following properties o IP 192 168 0 2 o port 60000 e During data exchanges when data has several bytes the lower byte is sent first the higher byte last e Take care of the headers values it change from a telegram to the other PP OR E The UDP communication is based on software services A service is a software component allowing controlling a specific device of the platf
18. d size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error NV 4 bytes type Nominal voltage of the battery in Volts Float32 P 4 bytes type Energy of the battery when fully charged in Amperes Float32 hour C 1 byte Uint8 Minimum percentage of power at which the battery can operate ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 14 RobuROC4 User s Manual ro bosoft Oluttior 4 2 2 7 Localization properties telegram Due to its architecture differential 4 wheel robot the robuROC4 undergoes strong slides Although the odometry data are provided they are highly inaccurate especially when the robot turns because of the robots slides Send a request telegram to receive these properties Field Field size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends properties short Value ID of the service that sends its
19. egram sent for this service will cause an error telegram as acknowledge 4 2 4 3 Notification status The notification service is special because it doesn t send its status itself Refer the properties of the notification service to receive the services currently recorded ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 20 ro bosoft 4 2 4 4 l OCard status The status telegram is the following RobuROC4 User s Manual Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TimeStamp 8 bytes type UInt64 Notification date This date corresponds of the number of low level cycle since power on This low level period is 10 ms Al 1 to Al n n blocs composed of Analog inputs values generally in volts fields 4 bytes type Float32 Refer to the properties to know the number n of analog inputs DI_1 to Dlm mblocs composed of Digital inputs values fields 1 byte type unsigned Each bloc contains 8 digital inputs values char Refer to the properties to know the number nDI of digital inputs m nDI 1 8 1 4 2 4 5 Telemeter status The status telegram is the following Header OxFF TimeStamp Dil ee
20. ibutable exe installed e RJ45 network cable e Application DashBoard RobuBOX 3 2 Start procedure Check nothing is in the environment of the platform Turn ON the main power switch Check the brakes mode switch is in AUTOMATIC position Release the local emergency stop Release the remote emergency stop Enable the remote control pressing its green button Press the green button of the platform s control panel 3 e Press the button of the gamepad to turn it ON e Refer to the 4 1Game pad mode section to move the platform using the gamepad e To be able to use the DashBoard application connect a laptop with an Ethernet wire e Start the DashBoard application to receive the platform s status ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 6 robosoft RobuROC4 Advanced Robotics User s Manual Solutions RobuBOX Dashboard gui mapview guifiocardview CenterOn None E Forward 1010 m Outputs Analog Digtal Analog Left Stop 1121 Front TEL WATCHDOG Em DO B Backward 0 645 Rea TEL Doc EP DOD 43 185 Battery A DOLE Absolute DOF Rotation ERE Gener edi li Dog e L 0000 GamePad C DOH Rotation Tra
21. inate of the first sensor in meters in the robot Float32 frame T 1 4 bytes type Orientation of the first sensor in radians in the robot Float32 frame FoV 1 4 bytes type Field of view of the first sensor in radians Float32 MinD_1 4 bytes type Minimum distance that can be measured by the first Float32 sensor in meters MaxD_1 4 bytes type Maximum distance that can be measured by the first Float32 sensor in meters D 1 4 bytes type Actual distance measured by the first sensor in meters Float32 x_n 4 bytes type X coordinate of the n sensor in meters in the robot Float32 frame Y n 4 bytes type Y coordinate of the n sensor in meters in the robot Float32 frame T n 4 bytes type Orientation of the n sensor in radians in the robot frame Float32 FoV_n 4 bytes type Field of view of the n sensor in radians Float32 MinD_n 4 bytes type Minimum distance that can be measured by the n Float32 sensor in meters MaxD n 4 bytes type Maximum distance that can be measured by the n Float32 sensor in meters D_n 4 bytes type Actual distance measured by the n sensor in meters Float32 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 13 ro bosoft Tense RobuROC4 User s Manual 4 2 2 6 Battery properties telegram Send a request telegram to receive these properties Field Fiel
22. isable first the local and the remote emergency stops This function is also available on the platform s control panel B Brakes management selector e Released used to be able to push the platform In this position the motors power cannot be enabled e Automatic The brakes are managed by the low level software C Button used to enable the motor power To be able to do this both the local and remote emergency stops must be released 5 3 Changing the IP settings The IP settings of the controller can be changed through a command line utility program present on the controller itself The instructions given here assume that it is done from a Windows computer e First step Open a telnet session For this you need to open a command prompt Start Menu gt Run then enter cmd and click Ok At the prompt type the following command It is supposed here the controller IP is 192 168 0 2 You should get a welcoming screen from the controller e Second step Use the netcfg exe utility In the telnet session type the following command to change the address to 10 0 0 10 IP mask to 255 0 0 0 with a gateway address 10 0 0 1 netcfg 10 0 0 10 255 0 0 0 10 0 0 1 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 29 robosoft RobuROC4 Advanced Robotics User s Manual Solutions After a few seconds you will have a confirmation message e Final step reboot the controller Yo
23. ld size description Header 1 byte type Header of the datagram unsigned char Value 1 0x01 Action 1 byte type GET unsigned char Value 0 0x00 Target 2 bytes type Instance number of the service that sends properties short Value ID of the service that sends its properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error TLS 4 bytes type Target linear speed in meters second Float32 TAS 4 bytes type Target angular speed in radians second Float32 CLS 4 bytes type Current linear speed in meters second Float32 CAS 4 bytes type Current angular speed in radians second Float32 MaxLS 4 bytes type Maximum linear speed in meters second Float32 MinLS 4 bytes type Minimum linear speed in meters second Float32 MaxAS 4 bytes type Maximum angular speed in radians second Float32 MinAS 4 bytes type Minimum angular speed in radians second Float32 MaxLA 4 bytes type Maximum linear acceleration in meters second Float32 MinLA 4 bytes type Minimum linear acceleration in meters second Float32 MaxAA 4 bytes type Maximum angular acceleration in radians second Float32 MinAA 4 bytes type Minimum angular acceleration in radians second Float32 Width 4 bytes type Distance between the left and right wheels in meters Float32 ROBOSOFT Technopole
24. nslation i 0 000 GamePad Step deg 4500 e Stpm 19 3 0 000 GamePad 1 000 GamePad Speed deg s 30 00 E Speedim s 050 Kee P 0 000 GamePad BV Caninterface class Drvers Emuon EmiionCaninteiface o d CANOpen O class Pure Communications CANOpeniO J FrontLettDrive class Drivers Ame AmeZdeante V RearLeftDrive class Drivers Ame AmeZdcante Voltage H V RearRightDrive class Drivers Ame AmeZdeante emain B V GamePad class Drivers Microsoft GamePadControler J DiferentalContollerclass Pure Algorithms DifferentialController Status Status Ok gui consoleview ical 08 04 2011 17 24 48 Service started Minimum percentage of power at which the battery can operate 08 04 2011 17 24 48 Starting manifest load file C MRDS2008R3 store dashboard Application manifest xml 08 04 2011 17 24 50 Service started 08 04 2011 17 24 51 Service started mz 08 04 2011 17 24 54 Manifest load complete 08 04 2011 17 24 54 No service handlers found on operations port with field name _batteryPort d marrer Sg Courrier entrant Z 3 Connexion het gt 6611 robuROX J ox CAWIND HB RobuBOx Dashboard ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 7 robosoft RobuROC4 Advanced User s Manual Robotics Solutions 4 Control modes 4 1 Game pad mode It is the default mode of the platform Maintain the Al button to activate the game pad mode UDP commands
25. ome services yM Gen It is important to get properties so that telegrams can be properly sent YG N 4 2 6 1 Directory replace No available replace telegram for this service 4 2 6 2 OCard replace No available replace telegram for this service 4 2 6 3 Telemeter replace No available replace telegram for this service 4 2 6 4 Battery replace No available replace telegram for this service 4 2 6 5 Localization replace Due to its architecture differential 4 wheel robot the robuROC4 undergoes strong slides Although the odometry data are provided they are highly inaccurate especially when the robot turns because of the robots slides It is possible to replace the state of this service for example if you want to correct the localization using another device The replace telegram is the following Field Field size description Header 1 byte type unsigned Header of the datagram char Value 1 0x01 Action 1 byte type unsigned REPLACE char Value 2 0x02 Target 2 bytes type short Instance number of the service that will receive the replace telegram refer to 4 2 1 section to get the services ID of Localization TimeStamp 8 bytes type UInt64 Not used but mandatory X 8 bytes type Float64 New X coordinate of the Robot in meters in the main frame Y 8 bytes type Float64 New Y coordinate of the Robot in meters in the main frame T 8 bytes type Float64
26. orm The different services can be accessed send commands receive status using their IDs Service ID Service Name Description D 0x0000 Directory This service lists other services This service is an entry point for all applications using this protocol The first element of the list is the directory service itself 1 0x0001 Notification This service is in charge of sending periodically the status of the other services To receive the services status a subscription specifying the notification period is needed 2 0x0002 lOCard This service allows to e sei the digital and analog outputs of the platform e read the digital and analog inputs of the platform e read the game pad buttons states 3 0x0003 Telemeter This service groups the telemeters values ultrasonic sensors 4 0x0004 Battery This service indicates the battery level of the platform 5 Ox0005 Localization This service contains odometry data 6 Ox0006 Differential Use this service to move the platform T e Refer to the properties and description of the directory service to get the services y IDs amp d Op e Refer to the appendix section in order to know the software links between hardware and the services For more information on the communication protocol refer to the PURE documentation htto www doc center robosoft com Robubox home page RobuBOX Pure User Manual ROBOSOFT Technopole Izarbel F
27. properties refer to 4 2 1 section to get the services IDs Error 1 byte type e 0 0x00 Ok no error unsigned char e Other value error X 8 bytes type Initial X coordinate of the Robot in meters in the main Float64 frame Y 8 bytes type Initial Y coordinate of the Robot in meters in the main Float64 frame T 8 bytes type Initial orientation of the Robot in radians in the main Float64 frame State 4 bytes type Set of flags indicating the state of the localization system Ulnt32 Value is composed with this bits e Bit O Invalid Indicates the localization is not valid e Bt 1 Metric Indicates that the solution has a metric accuracy e Du 2 Decimetric Indicates that the solution has a decimetric accuracy e Bit_3 Centimetric Indicates that the solution has a centimetric accuracy e Du A Proprioceptivelnput ndicates that the solution was computed using proprioceptive sensors e Du 5 Exteroceptivelnput Indicates that the solution was computed using exteroceptive sensors e Bit 6 Error Indicates that the solution provider has encountered a fatal error ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 15 ro bosoft RobuROC4 User s Manual 4 2 2 8 Differential properties telegram Send a request telegram to receive these properties Field Fie
28. rently being charged e 1 0x01 Charged The battery is fully charged but still plugged in the charger e 2 0x02 Ok The battery is operating s 3 0x03 Critical The remaining energy is below the minimum The battery should be recharged Remaining 1 byte type Ulnt8 Remaining percentage of battery energy ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 22 robosoft RobuROC4 User s Manual Oluttior 4 2 4 7 Localization status Due to its architecture differential 4 wheel robot the robuROC4 undergoes strong slides Although the odometry data are provided they are highly inaccurate especially when the robot turns because of the robots slides The status telegram is the following Field Field size description Header 1 byte type unsigned Header of the datagram char Value 255 OxFF ID Service 2 bytes type short Instance number of the service that sends the status Value ID of the service that sends its status refer to 4 2 1 section to get the services IDs TimeStamp 8 bytes type UInt64 Notification date This date corresponds of the number of low level cycle since power on This low level period is 10 ms X 8 bytes type Float64 X coordinate of the Robot in meters in the main frame Y 8 bytes type Float64 Y coordinate of the Robot in meters in the main frame T 8 bytes type Float
29. robosoft RobuROC4 Revision A Advan ed tobotics User s Manual Solutions 1 2 About this document ese oe sg ee Re ee se ee ae ioiii iiaeaae aaea aaaea ania aaea 2 1 1 Attention Symbols e see ae se EE ee ee ee AR ee ee Ge AR Re AA ee Ak Ke Re Ke ee 2 1 2 Revision HistOFY vn Ee EE De ee EE ee ee ee Re AR ee AR Re ee Re ee ee 2 Product description E ee EE De eers eer de Dee ee ee ee ee EA Re ee AR ee ee 3 2 1 Presentation keen WE EE ORE EE EEN 3 2 2 Dimensions ae ees E df EO Free AA AR Ee ee AA Ee Ge 4 2 3 Coordinate systei ee AA ee Ee ee Ge EA ee Ke ee AE Ee Aa 5 QUICK etart df EE EE ee ee ER AR RE ER AE EE ER AE Ee AE Ee AA EE RA EE Ee AA RE RA EE ee Ee e 6 3 1 REQUIPFCIM GING un E ees ED ee ee ee Ee ee AR Re ee AR Re ee AR Re ee AR ee AR ee ee ee ee ee 6 3 2 Start ProCQQ te d EE Re Ee Ge AR Re AA ee AA Ge AR ee Ke Ge AE Ee Aa 6 Control modes n A oe ee RA RA EE Ee AA AE RA AE Ee AE Ee AE Ee AE 8 4 1 Game pad mode err ee ee Re Re AA ee Ge Ke ee Ke ee ee Aa 8 4 2 EDF ee N ARE AE EE EE 9 4 2 1 Is or VERE EE EE Ee 9 42 Services Di berties se Re ER ee EA AE Re AA Re Ke AA Ge Ke AA Ke Ge AR Ge AA AA ee Ke ee ee ee 10 42 3 Services description eise ee RA AA ee RA AA AA Re AR AR AA Ge AA ee RA Ak AA ee Re ee 17 424 Services Status ED ee ee ee GR AE GR AE Ge AA AE Ge AA AE Ge AA Ee AA AE Ge AA AE GR AE Ge ee 20 4 2 5 Services COMMARdS ee ee Ee AE GR AA EE Ge AA EG AA AE Ge AA AE Ge AA Ee AE Ee AA
30. u can now reboot the controller to have the changes take effect This can be done by powering off and on the controller 5 4 Game pad buttons Back ON 5 5 Links Hardware Services ae The following section describes the software link between the services and the hardware S n to help you using correctly the services A This links are software links That means it is not representing the real wiring of the robot 5 5 1 lOCard Service The following table presents all the Float32 inputs of the service ID Description Units 00 Front telemeter voltage Volts 01 Rear telemeter voltage Volts 03 Battery voltage Volts 04 Game pad LJ Left Right 1 0 1 0 05 Game pad LJ Down Up 1 0 1 0 06 Game pad RJ Left Right 1 0 1 0 07 Game pad RJ Down Up 1 0 1 0 08 Game pad LT 1 0 1 0 09 Game pad RT 1 0 1 0 ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 30 robosoft RobuROC4 Advanced Robotics User s Manual Solutions The following table presents all the bool inputs of the service It is generally states like pressed not pressed ID Description 00 Front bumper 01 Rear bumper 03 exists but not used 04 exists but not used 05 exists but not used 06 exists but not used 07 exists but not
31. used 08 exists but not used 09 Game pad A button 10 Game pad B button 11 Game pad X button 12 Game pad Y button 13 Game pad Back button 14 Game pad Start button 15 Game pad D down button 16 Game pad D left button 17 Game pad D right button 18 Game pad D up button 19 Game pad LJ click 20 Game pad RJ click 21 Game pad LB button 22 Game pad RB button The following table presents all the Float32 outputs of the service Arnalog e EE N EN ID Description Units No analog outputs exists for this robot The following table presents all the bool outputs of the service It is generally states like Enable Disable ID Description 00 Watchdog used by the low level software cannot be used using the service 01 exists but not used 03 exists but not used 04 exists but not used 05 exists but not used 06 exists but not used 07 exists but not used ROBOSOFT Technopole Izarbel F 64210 BIDART Tel 33 0 559 415 360 Page 31 robosoft RobuROC4 Advanced D Robotics User s Manual Solutions 5 5 2 Telemeter Service The following table presents all the telemeter devices of the service When receiving properties or status the

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