Coming Soon ...
.. .. figure:: media/gifs/Aloha_forward.webp
..    :width: 100%
..    :alt: Aloha_forward
..    :align: center
..    :class: mbsrounded

.. Aloha Interface
.. =================

.. .. note::
..    Ensure your PC is set up correctly for network communication with the robot before proceeding.

.. .. attention::
..    Instructions on how to interface with the robot using **Ubuntu 22.04** and **ROS 2 Humble**.

.. Static Network Connection
.. -------------------------

.. To configure a static network connection between your PC and the robot for the first time, follow these steps:

.. 1. **Connect via LAN Cable**: Use a LAN cable to connect your PC directly to the robot. The LAN port is located on the back of the robot's top cover. 

.. .. figure:: media/pictures/Aloha_network.jpg
..    :width: 60%
..    :alt: Aloha_transport_two_person
..    :align: center
..    :class: mbsrounded
..     Quadruped
..    The ethernet port can be used for setting up communication via LAN.

.. 2. **Set Up a Manual Connection**:

..    - On an Ubuntu system, navigate to **Settings → Network**.
..    - Click on the "+" icon to create a new connection.
..    - In the IPv4 settings, change the connection mode to **Manual**.
..    - Enter the following details:

..      - **Address IP**: `10.42.0.51`
..      - **Netmask**: `24`

..    - Save the configuration and restart your network.

.. 3. **Verify the Connection**:

..    - Check the local IP of the host PC:

..      .. code:: bash

..         ifconfig

..    - Ping the robot to ensure connectivity:

..      .. code:: bash

..         ping 10.42.0.50

.. 4. **Access the Robot via SSH**:

..    - Use the following command to connect:

..      .. code:: bash

..         ssh -X administrator@10.42.0.50

..    - Default password: `mybotshop`

.. .. important::
..    Disconnect from other active networks to avoid interference during this process.

.. IP Addresses
.. ------------

.. The table below provides a reference for the IP addresses and login credentials for various Aloha components:


.. +-----------------------------+-------------------+-------------------+----------------+
.. | Name                        | IP Address        | Username          | Password       |
.. +=============================+===================+===================+================+
.. | Aloha Router                | 10.42.0.1         | Aloha           | Aloha        |
.. +-----------------------------+-------------------+-------------------+----------------+
.. | Aloha Livox Mid360          | 10.42.0.20        | x                 | x              |
.. +-----------------------------+-------------------+-------------------+----------------+
.. | Aloha Nvidia                | 10.42.0.50        | administrator     | mybotshop      |
.. +-----------------------------+-------------------+-------------------+----------------+
.. | Aloha MCU                   | 10.42.0.100       | x                 | x              |
.. +-----------------------------+-------------------+-------------------+----------------+


.. .. attention::
..    Use these credentials responsibly. Change default passwords where security is critical.

.. Aloha Quick Start
.. ===================

.. **Powering On**:

.. 1. Tilt the robot upward, insert the key into the bottom slot, and turn it clockwise to unlock.
.. 2. The robot’s flashlights will blink indicating that the power has turned on.
.. 3. Wait for **1 minute** after powering up for the PC to bootup.

.. **Powering Off**:

.. - Press **Soft E-Stop (L2 + B)**—this will cause the robot’s motors to dampen, allowing it to gently fall to the ground.
.. - Lock the robot with the key.


.. **Connecting via LAN**:

.. To quickly establish a connection, use the following command:

.. .. code:: bash

..     ssh -X administrator@10.42.0.50

.. .. warning::
..    Ensure proper safety measures are in place when operating the robot. If issues arise during operation, refer to the specific troubleshooting commands provided below.



.. .. figure:: media/pictures/Aloha_rviz.png
..    :width: 100%
..    :alt: Aloha_rviz
..    :align: center
..    :class: mbsrounded

.. Aloha Visualization
.. ---------------------

.. To view the robot in the simulation environment:

.. .. code:: bash

..     ros2 launch Aloha_viz view_robot.launch.py

.. Aloha Odometric Navigation
.. ----------------------------

.. .. note::

..    **Aloha Odometric Navigation** is currently under development.

.. To launch odometric navigation for the robot:

.. .. code:: bash

..     ros2 launch Aloha_nav2 odom_navi.launch.py

.. Aloha Map Navigation
.. ----------------------

.. .. note::

..    **Aloha Map Navigation** is currently under development.

.. To perform map-based navigation:

.. 1. Ensure a map is generated, saved, and available in the ROS package.
.. 2. Perform a `colcon build` to integrate the map into the workspace.
.. 3. Launch the map navigation:

..    .. code:: bash

..        ros2 launch Aloha_nav2 map_navi.launch.py


.. Aloha Intel RealSense D435i
.. -----------------------------

.. +--------------------------------------------------------+--------------------------------------------------------+
.. | .. figure:: media/pictures/color_image.png             | .. figure::  media/pictures/depth_image.png            |
.. |    :width: 90%                                         |    :width:  90%                                        | 
.. |    :align: center                                      |    :align: center                                      | 
.. |    :class: mbsrounded                                  |    :class: mbsrounded                                  |
.. |                                                        |                                                        |
.. |    Color Image                                         |    Depth Image                                         | 
.. +--------------------------------------------------------+--------------------------------------------------------+

.. .. note::

..    The **D435i** is launched by default through the **Aloha bringup**.  
..    Do not re-run the following command unless the `Aloha-realsense` service has been stopped.

..    .. code-block:: bash

..       ros2 launch Aloha_depth_camera realsense_d435i.launch.py

.. The launch file is pre-configured to enable **continuous depth stream** from the **RealSense D435i** without lag.  

.. To modify parameters, edit the configuration file:  

..    .. code-block:: bash

..       Aloha_depth_camera/launch/realsense_d435i.launch.py



.. Aloha Data Recording
.. ----------------------

.. .. important::

..    The **ROS 2 bag** should be started **before** launching any drivers; otherwise, it will not capture all the data.

.. To store data for **30 minutes**, limited to **1 GB**, use the following command:

.. .. code-block:: bash

..    ros2 bag record -a -b 1000000000

.. Aloha Diagnostics
.. -------------------

.. The **Aloha Diagnostics** system uses different LED colors to indicate various states.

.. The robot's diagnostics are represented by the following color codes:

.. +----------+--------------------------------------------------+
.. | **Color**| **State**                                        |
.. +==========+==================================================+
.. | RED      | The robot is in an error state.                  |
.. +----------+--------------------------------------------------+
.. | WHITE    | The robot is operational.                        |
.. +----------+--------------------------------------------------+
.. | ORANGE   | The robot is in a soft e-stopped state.          |
.. +----------+--------------------------------------------------+
.. | BLUE     | The hardware manager is in none of the above     |
.. |          | states.                                          |
.. +----------+--------------------------------------------------+

.. .. note::
..    These diagnostics provide immediate visual feedback on the robot's current status.