1100 :: Husky
=============

.. figure:: media/pictures/main.png
  :width: 90%
  :align: center
  :class: mbsrounded

|

.. important::

    The following instructions are for the `Husky GE model <https://www.docs.mybotshop.de/projects/project_slam_navigation/html/husky_ge.html>`__.

Sensors Activation
------------------

1. Press **A** + **Up arrow** to restart the Husky driver.

    .. figure:: media/pictures/sd11.png
            :width: 90%
            :align: center


2. Use **B** + **Up arrow** to activate TCP tunnel 2.

    .. figure:: media/pictures/sd12.png
        :width: 90%
        :align: center

3. Press **Y** + **Up arrow** to activate the ZED2i Depth camera.

    .. figure:: media/pictures/sd13.png
        :width: 90%
        :align: center

4. Use **Y** + **Down arrow** to deactivate the ZED2i Depth camera.

    .. figure:: media/pictures/sd14.png
        :width: 90%
        :align: center

5. Press **R4** + **Up arrow** to activate the Ouster Lidar.

    .. figure:: media/pictures/sd15.png
        :width: 90%
        :align: center

6. Use **R4** + **Down arrow** to deactivate the Ouster Lidar.

    .. figure:: media/pictures/sd18.png
        :width: 90%
        :align: center

7. Press **R5** + **Up arrow** to activate the Robosense Lidar.

    .. figure:: media/pictures/SC11.jpg
        :width: 90%
        :align: center

8. Use **R5** + **Down arrow** to deactivate the Robosense Lidar.

    .. figure:: media/pictures/SC12.jpg
        :width: 90%
        :align: center

9. Press **L4** + **Up arrow** to activate the Fixposition GPS.

    .. figure:: media/pictures/sd17.png
        :width: 90%
        :align: center

10. Use **L4** + **Down arrow** to deactivate the Fixposition GPS.

    .. figure:: media/pictures/sd18.png
        :width: 90%
        :align: center

11. Press **L5** + **Up arrow** to activate the EMLID RS2 GPS.

    .. figure:: media/pictures/SC15.jpg
        :width: 90%
        :align: center

12. Use **L5** + **Down arrow** to deactivate the EMLID RS2 GPS.

    .. figure:: media/pictures/SC16.jpg
        :width: 90%
        :align: center

13. Press **L2** + **Up arrow** to activate the Intel Realsense I.

    .. figure:: media/pictures/SC17.jpg
        :width: 90%
        :align: center

14. Use **L2** + **Down arrow** to deactivate the Intel Realsense I.
        
    .. figure:: media/pictures/SC18.jpg
        :width: 90%
        :align: center

15. Press **R2** + **Up arrow** to activate the Intel Realsense II.

    .. figure:: media/pictures/SC19.jpg
        :width: 90%
        :align: center

16. Use **R2** + **Down arrow** to deactivate the Intel Realsense II.
        
    .. figure:: media/pictures/SC20.jpg
        :width: 90%
        :align: center

Record ROS2 Bag
---------------

The ros2 bag topics that you want to add/remove/configure can be done by 
editing the topics required for the Husky Steamdeck. For this, in the **Steamdeck Computer** go to the file:

.. code:: bash

    /home/deck/ros2_ws/src/mybotshop/hsky_steamdeck/config/steamdeck.yaml

.. note::
    
    The ros2 bag storage size, and max duration can also be configured from this file.


Be sure to restart the Steamdeck driver to ensure the changes have taken place. 
To change the save file location, in the **Husky PC** go to:

.. code:: bash

    /home/administrator/ros2_ws/src/mybotshop/hsky_utils/config/hsky_utils.yaml


By default, this is configured to save on the provided external hard drive.


1. **B** + **A** Start Recording ROS2 bags

    .. figure:: media/pictures/home1.jpg
        :width: 90%
        :align: center
        
2. **B** + **Y** Save Recording ROS2 bags in external hard drive.

    .. figure:: media/pictures/home2.jpg
        :width: 90%
        :align: center

.. important::
    Once the recording for the ROS2 bag has started please restart the husky drivers 
    once by pressing **A + Up arrow**. Once you have stopped recording please wait for **2-5 mins** 
    depending on the length of the record as it takes time for the on-board PC to save data. 

.. note::
    
    The Ros2 bag files will be saved automatically on the external hard drive with the 
    recording date and time as the file's name. You can see all the files in the directory 
    **/media/...**

GPS Waypoint
------------

1. **X** + **Up arrow** to record current locations GPS waypoint.

    .. figure:: media/pictures/home3.png
        :width: 90%
        :align: center
        
2. **X** + **Down arrow** to save GPS waypoints.

    .. figure:: media/pictures/home4.png
        :width: 90%
        :align: center

3. **X** + **Right arrow** to move the robot through the saved GPS waypoints.

    .. figure:: media/pictures/home5.png
        :width: 90%
        :align: center