User Manual - ISY - Linköping University
Contents
1. ES LiTH Autonomous mine sweeper Balrog 2014 12 11 ethernet cable and running the script sudo nat sh in the os folder on the laptop The nat sh script shares the Internet connection from the laptop to Balrog Once connected the new code can be downloaded to Balrog for example by using Git see github com for instructions on how to use Git TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 62. SB device rules has to be set up which can be done via the following commands cd SOURCE DIR os sudo installConfigs sh Assuming the current directory is SOURCE DIR the external libraries can be compiled by running cd SOURCE DIR vendor amp amp build sh The software can then be compiled via cd SOURCE DIR amp amp buildall sh which will produce executables of basestation SOURCE DIR basestation bin basestation and app balrog SOURCE DIR app balrog bin app balrog TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 2 ES LiTH Autonomous mine sweeper Balrog 2014 12 11 3 Base station The base station is used to control and monitor Balrog This can be done either through a terminal or through a GUI For more information on how to monitor Balrog through the terminal see section 5 3 1 GUI To start the GUI run the basestation project on the laptop while being connected to Balrog s Wifi To run the project use the terminal and run the basestation file located in basestation bin or run it through Qt creator Once the program has started it will ask the user for Balrog s IP which is 192 168 1 3 when connecting through Wifi Enter the IP and press Connect nner status Planner not in use Gps on off GPS off Gps status ietwork status Disconnected Xbox status Disconnected Waypoints New waypoint Estimated Position Position uncertainty Add w
3. User Manual Editor Marcus B ck Version 1 2 Status Reviewed Martin Szilassy 2014 12 09 Approved Hanna Nyqvist 2014 12 11 LiTH Autonomous mine sweeper Balrog 2014 12 11 PROJECT IDENTITY 2014 HT Invenire Periculosa Link ping University Dept of Electrical Engineering ISY Group members Name Responsibility Phone Email Qstudent liu se Martin Szilassy MS Project manager PM 070 8840295 marsz918 Marcus B ck MB Responsible for docu 070 6924804 marba751 mentation DOC Victoria Als n VA Chief of tests 073 9409540 vical845 Johan K llstr m JK Chief of design 073 0718371 johka546 Mikael Hammar MH Master of SLAM 070 2658294 mikha087 Daniel Orn DO Chief of hardware 073 6448910 danor434 Olof Zetterlund OZ Chief of information 073 7133822 oloze183 Simon Ollander SO Junior Technical Advisor 073 8322898 simol515 Email list for the whole group balrog 2014Qgooglegroups com Web site http www isy liu se edu projekt tsrt10 2014 bandvagn Customer SAAB Bofors Dynamics Link ping Customer contact Torbj rn Crona torbjorn crona saabgroup com Course leader Daniel Axehill 4 46 13 284042 danielQisy liu se Client Hanna Nyqvist 46 13 281 353 hanna nyqvistQliu se Tutor Martin Lindfors 46 13 281365 martin lindfors liu se TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page I ES LiTH Autonomous mine
4. aypoint Remove waypoint Set origin current position GPS on off Operational area Height 10 Width 10 Current wheel speeds Left wheelspeed is Right wheelspeed is amp Show waypoints Ig Show obstacles Show estimated position sus Ea compile output E Figure 2 Basestation GUI Balrog can then be controlled by using the arrow keys for direction and w and s keys for speed when in manual mode 4 Hand Controller The hand controller which is an unmodified XBOX controller is used to manually ma neuver Balrog TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 3 ES LiTH Autonomous mine sweeper Balrog 2014 12 11 Figure 3 Hand controller The button labeled as 1 in figure 3 is used to start the handcontroller and initiate connec tion to Balrog This button must be pressed before starting the main program on Balrog app_balrog to ensure connection between hand controller and Balrog The joystick labeled as 2 in figure 3 is used to manouver Balrog once connected It steers Balrog relative to Balrog s current position e g by pushing to joystick forward Balrog will keep a straight course and move forward The hand controller will turn off automatically after a certain time if it does not find or looses the connection 5 Balrog This section describes how to start and connect to Balrog how to shut down and how to power off Balrog Figure 4 Balrog TSRT10 Inve
5. ensors as well as states and input signals to the motors until the application is terminated by pressing ctrl c The log files are stored in the folder where the program is started One way to retrieve the log files from Balrog is by mounting Balrog to the laptop or any computer This can be done by navigating to scripts host and running mount sh on the laptop while being connected with ethernet cable to Balrog This will mount Balrog as a disc on the laptop and allow for file transfers To unmount Balrog run the script unmount sh which is located in the same folder 5 3 Shut down Balrog To shut down Balrog you must be connected to Balrog When connected running sudo shutdown h now in Balrog s terminal will terminate Balrog s computer Thereafter it is safe to flip the main switch to turn off the power supply If not done this way there will appear a prompt next boot that the computer didn t stop correctly and if you want to review the BIOS UEFI settings 5 4 Charging Balrog s battery The charger is inserted into the charge connector next to the main switch While charging the battery on Balrog the main switch must be in off mode pointing downwards 5 5 Update software on Balrog To access and download new code to Balrog Balrog must be connected to the Internet Connecting Balrog to the Internet can be done by connecting the laptop to Balrog by TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 5
6. nire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 4 ES LiTH Autonomous mine sweeper Balrog 2014 12 11 5 1 Connecting to Balrog To start up Balrog flip the main switch labeled as 1 in figure 4 After a couple of seconds you will be able to access the WiFi network Balrog using the password bandvagn Once connected to the network open a terminal Linux or Mac and run ssh balrog 192 168 1 3 You will then be prompted for Balrog s password which is balrog3000 It is also possible to connect to Balrog using an ethernet cable This is done by connecting a cable to the unused network card on your computer and manually changing your IP address to something in the same subnet as Balrog i e change to 192 168 0 1 Balrog will then be reachable by running ssh balrog 192 168 0 2 and writing balrog3000 as password 192 168 0 1 is also set to Balrog s default gateway on that interface thus you can route Internet traffic from Balrog through your own computer 5 2 Starting Balrog s through the terminal and logging data Once connected to Balrog the main program is started by navigating to app_balrog bin and running app_balrog This will start the main program and allow for example man ual control through the base station and hand controller if the hand controller is connected To log data from the sensors while the program is running navigate to app_balrog bin and run app_balrog debug This will log data continuously from all s
7. rog e Base station e Handcontroller Balrog is the robot that autonomously searches and maps the selected search area The base station is the operating hub from which Balrog can be manoeuvred and where the map is displayed The handcontroller can be used to steer Balrog when Balrog is in manual mode The following sections describe how to use the different subsystems 2 System setup This section desribes how to get up and running with Balrog from scratch 2 1 Hardware Make sure all hardware is connected to the Balrog The GPS IMU ARM laser scanner and handcontroller receiver must be connected via USB An Ethernet cable from one of the LAN ports on the router must be connected to the left ethernet jack on Balrog In addition to this the Balrog main computer power supply must be connected please see Figure 1 It s recommended to connect the ARM controller to the non USB 3 ports as it is not fully compatible with USB 3 TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page 1 LiTH Autonomous mine sweeper Balrog 2014 12 11 Figure 1 Correct setup of cables and wires 2 2 Software Both the basestation and Balrog unit runs Ubuntu 14 04 4 with the following dependencies installed To install external dependencies from a terminal run the following command sudo apt get install git build essential autoconf cmake qt4 qmake qt5 qmake qt4 dev tools In addition to this all U
8. sweeper Balrog 2014 12 11 Contents Document history III 1 Introduction 1 1 1 System description sra 1 2 System setup 1 2 1 HardWare oske se eh a a e 1 E vans a eS A BR JR GT 2 3 Base station 3 S GUD MDC 3 4 Hand Controller 3 5 Balrog 4 5 1 Connecting to Balrog oaoa aa a Gag G 5 5 2 Starting Balrog s through the terminal and logging data 5 pe OH OWI Balrog daa er e uox der ure 5 5 4 Charging Balrog s battery au 4 28 Re OO ORO aa 5 5 5 Update software on Balrog 4 2 22e Roo rra RU RR b TSRT10 Invenire Periculosa Lips Marcus B ck balrog 2014Qgooglegroups com Page II ER LiTH Autonomous mine sweeper Balrog 2014 12 11 Document history Version Date Changes Sign Reviewed 0 1 2014 11 21 First draft MS MB 0 2 2014 11 27 Updated base station section and MS DO Balrog section 0 3 2014 11 28 Updated according to comments MS MB from client 1 0 2014 12 04 Version 0 3 approved by client MS MB 1 1 2014 12 05 System setup chapter added D MB 1 2 2014 12 09 System setup reviewed according to DO MS comments TSRT10 Invenire Periculosa Lips Marcus Back balrog 2014Qgooglegroups com Page III ES LiTH Autonomous mine sweeper Balrog 2014 12 11 1 Introduction This document describes how to handle and maintain the Balrog system and its surround ing components 1 1 System description The system consists of three parts e Bal
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