Suricate robot tutorials
========================

This section explain some examples of how to use the gazebo simulation and ROS in order to play
with the suricate robot and develop some extensions.

Initial considerations
^^^^^^^^^^^^^^^^^^^^^^

- Credentials for Raspberri PI 2: user **ubuntu** - Password **ubuntu**

- Credentials for ODROID: user **odroid** - Password **odroid**

- Suricate robot is pre-configured for connecting to WiFi network **suricate** and password **suricate2015**, router should assign automatically static IP address

Raspberry PI2- *192.168.0.201*

ODROID - *192.168.0.203*

PC - *192.168.0.105*

this is important for following steps.

- If you want to change WiFi network configuration on Raspberry or ODROID, please modify config file (you can connect MicroSD on external PC with linux):

.. code-block:: none

    sudo nano /etc/network/interfaces


- You can change I2C and SPI parameters modifying file:

.. code-block:: none

    sudo nano /boot/config.txt


How to start suricate robot
^^^^^^^^^^^^^^^^^^^^^^^^^^^

To run suricate robot, you need a working ROS project (explained on installation section).
Once it is working, you can execute the following steps:

1. Turn on robot and wait for WiFi connection (default network **suricate** and static IP **192.168.0.201**).

2. By default, ODROID is configured to act as ROS Master using static IP *192.168.0.203*, and it will start automatically as soon
as you power it on.

3. Use console to connect using SSH to raspberry PI2 (example: ssh user@IP_address):

.. code-block:: none

    ssh ubuntu@192.168.0.201


4. Start ROS nodes on RPI2 using the following commands:

.. code-block:: none

    cd ~/Documents/code/suricate_micro/
    source devel/setup.bash
    export ROS_IP=192.168.0.201
    export ROS_MASTER_URI=http://192.168.0.203:11311
    roslaunch robot_starter robot_starter.launch

By default, robot uses LQR controller that will start automatically, meaning that robot will stand up as soon as you execute robot_starter.launch,
you might also try PID controlled that requires an initial velocity command given by **/robot/cmd_vel** (usually provided if you connect a gamepad).

5. Now, if everything is correct, LED matrix should show a happy face. If does not do it, please check Frequent Questions section.

6. Open a new console and start PC ROS nodes for visualization and control, using following commands:

.. code-block:: none

    cd ~/catkin_ws/
    source devel/setup.bash
    export ROS_IP=192.168.0.105
    export ROS_MASTER_URI=http://192.168.0.203:11311
    roslaunch suricate_robot PC_launcher.launch

Recommendations:

It is possible that your ROS project is place on different location.

Connect a gamepad before running this nodes, if you want to control robot with it.

7. Previous command will open a RQT instance (graphical interface), you can check robot state by clicking tab "Topic monitor", and select a topic, for instance **/robot/imu**.
If Hz shows something between 80 to 130 HZ IMU is properly sensed and robot work OK.

.. image:: media/IMU_checking.png

You should also get a RVIZ 3D graph, which, as soon as you move the robot, shows a computed position and pose.

.. image:: media/RVIZ_working.png

8. It is also possible to use web interface, please open a web browser (tested on Google Chrome and Opera) and write this address:

.. code-block:: none

    http://192.168.0.203:3000

you must create a new user with password in order to get access to robot interface

.. image:: media/web_interface_working.png

It is possible to check camera image, battery status and 3D computed pose.
If you use PID controller (select on raspberry_init.launch), you can also control robot using arrows on display.