Ascento 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:

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.

The ethernet port can be used for setting up communication via LAN.

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.
Verify the Connection:
- Check the local IP of the host PC:
```
ifconfig
```
- Ping the robot to ensure connectivity:
```
ping 10.42.0.50
```
Access the Robot via SSH:
- Use the following command to connect:
```
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 Ascento components:

Name	IP Address	Username	Password
Ascento Router	10.42.0.1	ascento	ascento
Ascento Livox Mid360	10.42.0.20	x	x
Ascento Nvidia	10.42.0.50	administrator	mybotshop
Ascento Nvidia (Web)	10.42.0.50:9000	x	mybotshop
Ascento MCU	10.42.0.100	x	x
Ascento Fixposition	10.42.0.109	x	x
Ascento Cameras	10.42.0.115	root	ascento
Ascento Steamdeck	10.42.0.150	deck	mybotshop
Ascento Access Point	10.42.0.200	ascento-5G	mybotshop
Ascento Access Point (Web)	10.42.0.200	admin	Admin123

Attention

Sometimes other networks can cause disruptions when connecting to the Ascento. It is best to have only your connection to the robot active and all others inactive.

Note

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

Ascento Fixposition

Each new unit has to configure its Fixposition. Several steps are required.

Web Interface

• Option 1 (Recommended):

Connect to the Ascento and open the webpage:

http://10.42.0.109/

• Option 2:

Connect your PC to the Fixposition Wi-Fi network with SSID starting with fp-. The Wi-Fi password is 1234567890.
Open a web browser and navigate to:
```
10.0.1.1
```

This will take you to the Fixposition dashboard.

Software Upgrade

To update the software version of the Vision-RTK 2:

• Go to the System → Update panel in the web interface.

• Click inside the marked area to select the SWU file or drag and drop the SWU file there.

Configuration

At the top of the page, the Configuration tab allows you to set up Fixposition parameters according to your requirements.

Fusion Configuration

Available options:

• Autostart:

○ Enables automatic launching of the Fusion engine on system bootup. (Note: Enabling this will not start the Fusion engine immediately.)

• Housing:

○ Choose between Prototype (3D-printed) or Standard (aluminum).

• Tuning Mode:

○ Set expected platform dynamics. For example, use “Slow robot” for typical speeds. Adjust accordingly if operating at high speeds.

• GNSS Extrinsics:

○ Define the position of the GNSS antennas relative to the Vision-RTK 2 sensor frame in meters. These values should be accurate to the millimeter level.

GNSS Configuration

You can configure your own correction data here to receive the desired GNSS corrections.

For example, in Germany, the government provides free correction data to educational institutions, including:

• Username

• Password

• Host Name

• Port

Once acquired, enter this information in the Fixposition GNSS configuration panel at:

http://10.42.0.109/#gnss-config

Network Configuration

In the Network tab, you can configure:

• Wi-Fi Client:

○ Set the Wi-Fi network that Fixposition should connect to (required for localization startup).

• Wi-Fi Access Point:

○ Change the SSID and password of the Fixposition Wi-Fi network.

• Ethernet:

○ Change the Ethernet IP address to the desired one for PC access. (Do not change this IP if it would disrupt Ascento’s connection to Fixposition.)

I/O Configuration

In the Output messages table, select the TCP0 option in all sections except those that turn orange when selected.

Status

After updating and configuring Fixposition, start the Fusion engine by pressing the Start button.

• Monitor the IMU Status — it should display Converging.

• Monitor the Baseline Status — it should be Green.

Verification

For the first-time Fixposition calibration:

• The Ascento must move approximately 50 meters in a figure-8 pattern.

• This movement is necessary for calibrating the IMU and activating Fusion successfully.

Ascento Quick Start

Powering On:

Tilt the robot upward, insert the key into the bottom slot, and turn it clockwise to unlock.
The robot’s flashlights will blink indicating that the power has turned on.
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:

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.

Disengage Estops

To disengage the emergency stops on Ascento:

• Disengage Hard Estop:

ros2 topic pub /ascento/cmd/hard_estop_set std_msgs/msg/Bool "{data: false}"

• Disengage Soft Estop:

ros2 topic pub /ascento/cmd/soft_estop_set std_msgs/msg/Bool "{data: false}"

Motor Homing Start

To initiate motor homing:

ros2 topic pub /ascento/cmd/homing_start std_msgs/msg/Empty {}

Warning

If homing fails, try power-cycling the robot:

ros2 service call /ascento/cmd/power_reset std_msgs/msg/Trigger {}

Standup

To command the robot to stand up:

ros2 service call /ascento/cmd/standup std_srvs/srv/Trigger {}

Visualization

To visualize the robot in RViz:

ros2 launch ascento_viz view_robot.launch.py

Ascento Tele-operation

To control Ascento using the keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ascento/cmd/twist

Ascento TF Tree

To view the TF tree with remapped topics:

ros2 run rqt_gui rqt_gui --ros-args --remap tf:=/ascento_0116/tf --ros-args --remap tf_static:=/ascento_0116/tf_static

Ascento ROS2 Drivers

Important

Please contact support@mybotshop.de to gain access to the MBS Ascento repository for the latest changes and updates. When contacting support, please include your Mybotshop Order ID as well as your GitHub Username or GitHub Email ID.

All ROS2 drivers for Ascento developed by MYBOTSHOP operate under ROS DOMAIN ID=0 and utilize the Zenoh bridge for communication. The drivers are pre-configured and should already be running on the Ascento.

The Ascento ROS2 driver package includes the following:

• Joint States

• Robot Description

• Leg Control (High-level)

• Inertial Measurement Unit Publisher

• Sensor Fusion

• Twist Mux

• Steamdeck Control

• D435i Depth Camera Driver

• Livox Mid360 Lidar Driver

• 2D Scanner

• Fixposition

Ascento Startup Services

Several essential Ascento drivers and services run in the background to ensure smooth operation. Below is a list of the main services:

Service Name	Description
ascento-description	Launches robot state publisher for visualization
ascento-zenoh	Bridges robot MCU with the onboard Nvidia
ascento-mid360	Activates the mid360 lidar
ascento-3d-odom	Activates 3D Odom and localization
ascento-webserver	Activate Robot webserver
ascento-realsense	Actuvates the Intelrealsense D435i Camera
ascento-fixposition	Activates fixposition GPS
ascento-battery-status	Displays rviz battery marker
ascento-jointstate-publisher	Launches joint state publisher for visualization

You can query, start, stop, or restart these services using the following commands:

sudo service {service_name} status
sudo service {service_name} start
sudo service {service_name} stop
sudo service {service_name} restart

Example:

sudo service ascento-desc status

To remove a service:

ros2 run robot_upstart uninstall {service_name}

Important

If you encounter an error such as Unit ascento-{service_name}.service could not be found., this indicates that the startup service is not installed.

Service Status Markers:

• Red Marker: Indicates the startup job has failed. Restart the service:

sudo service {service_name} restart

• Green Marker: Indicates the service is running correctly.

• Grey Marker: Indicates the service has not started.

To modify the upstart job or add additional ROS launch files, update the main upstart file (system.launch.py) in the ascento_bringup package. After making changes:

ros2 run ascento_bringup startup_installer.py

Ascento Simultaneous Localization and Mapping

SLAM allows the robot to perform simultaneous localization and mapping. Follow these steps to perform SLAM:

Ensure the ascento_bringup service is running.

Launch the SLAM process:

ros2 launch ascento_nav2 slam.launch.py

Begin mapping using the teleoperation keyboard at a speed of 0.2 m/s.

Exporting the Map:

Once satisfied with your map, export it using:

cd /opt/mybotshop/src/mybotshop/ascento_nav2/maps
ros2 run nav2_map_server map_saver_cli -f map_

Rebuild the Workspace:

If the map name is not map_, rebuild the workspace:

colcon build --symlink-install && source install/setup.bash

Finally, source the updated environment:

source /opt/mybotshop/install/setup.bash

Note

Ensure all dependencies are properly installed and the environment is sourced before running these commands.

Ascento Fixposition

To connect to Fixposition:

• Connect to Ascento’s Wi-Fi network.

• Open a web browser and navigate to:

http://10.42.0.109

Refer to the official Fixposition documentation for integration instructions and parameter tuning.

Ascento ZED2i

To launch the ZED2i camera, use the following command:

ros2 launch ascento_depth_cameras zed2i.launch.py

Note

This service is currently not operational via systemd; please use the manual command.

Ascento Gazebo Fortress

Note

Ascento Gazebo Simulation is currently under development.

The Fortress Gazebo simulation currently does not support the high-level Ascento interface. It is intended for use with low-level control, training, and testing.

For simulation modifications, refer to the GZ ROS2 Control documentation.

Ascento Simulation

To start the Ascento Fortress simulation:

ros2 launch ascento_gazebo fortress_simulation.launch.py

Cleanup After Simulation

To clean up the simulation environment after use:

ros2 run ascento_gazebo kill_gz.sh

Effort Trajectory Control Example

To send a joint trajectory goal:

ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [
      'ascento/hip_left',   'ascento/hip_right',
      'ascento/knee_left',  'ascento/knee_right'
    ],
    points: [
      {
        positions: [-2.0, 2.0, 0.0, 6.28],
        time_from_start: {sec: 2, nanosec: 0}
      }
    ]
  }
}"

Velocity Control Example

To publish velocity commands to the joint velocity controller:

ros2 topic pub -1 /joint_velocity_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.5, -0.5]}"

Ascento Intel RealSense D435i

Note

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

ros2 launch ascento_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:

ascento_depth_camera/launch/realsense_d435i.launch.py

Ascento Mid360 LiDAR

Note

The Mid360 LiDAR is launched by default through the Ascento bringup. Do not re-run the following command unless the ascento-mid360 service has been stopped.

ros2 launch ascento_livox system.launch.py

Ascento 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:

ros2 bag record -a -b 1000000000

Ascento Development

For custom controls and interfaces, refer to the Ascento SteamDeck ROS 2 package as a reference for development.

Ascento Diagnostics

The Ascento 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.

Ascento Status Commands

This section provides commands to monitor the various statuses of the Ascento Research Robot, including IMU, joint states, battery state, diagnostics, and other key metrics.

The following commands can be used to echo the respective statuses of the robot:

Status	Command
IMU	ros2 topic echo /ascento/imu
Joint States	ros2 topic echo /ascento/joint_states
Battery State	ros2 topic echo /ascento/battery_state
Diagnostic Status	ros2 topic echo /ascento/diagnostic_status
Robot Description	ros2 topic echo /robot_description
Robot Speed	ros2 topic echo /ascento/estimator/speed_bias
Current Height	ros2 topic echo /ascento/estimator/base_height
Motor Homing Status	ros2 topic echo /ascento/homing_status
Head Light Status	ros2 topic echo /ascento/headlight_state
Hazard Light Status	ros2 topic echo /ascento/hazardlight_state
Eyes Status	ros2 topic echo /ascento/eyes_state

Note

These commands provide real-time status updates for the respective components of the robot. Use them as needed for diagnostics or monitoring during operation.

Ascento Service Commands

This section provides service commands to control and configure various features of the Ascento Research Robot.

Important

Always perform motor homing before initiating the Standup command to ensure proper robot alignment.

Below is a list of service commands and their purposes:

Command	Description
Standup	Makes the robot stand up. ros2 service call /ascento/cmd/standup std_srvs/srv/Trigger {}
Head Light	Turns the headlight on or off. ros2 service call /ascento/cmd/headlight_set std_srvs/srv/SetBool "{data: true}"
Hazard Light	Turns the hazard light on or off. ros2 service call /ascento/cmd/hazardlight_set std_srvs/srv/SetBool "{data: true}"
Eyes State	Toggles the eyes state on or off. ros2 service call /ascento/cmd/eyes_set std_srvs/srv/SetBool "{data: true}"
Powercycle Robot	Restarts the robot power system. ros2 service call /ascento/cmd/power_reset std_srvs/srv/Trigger {}
Speed Bias Increase	Increases the robot’s speed bias by 0.002 per request. ros2 service call /ascento/cmd/speed_bias_increase std_srvs/srv/Trigger {}
Speed Bias Decrease	Decreases the robot’s speed bias by 0.002 per request. ros2 service call /ascento/cmd/speed_bias_decrease std_srvs/srv/Trigger {}
MCU Reboot	Reboots the robot’s MCU. ros2 service call /ascento/cmd/reboot_computer std_srvs/srv/Trigger {}
Motor Homing Start	Starts the motor homing process. ros2 service call /ascento/cmd/homing_start std_srvs/srv/Trigger {}
Motor Homing Cancel	Cancels the motor homing process. ros2 service call /ascento/cmd/homing_cancel std_srvs/srv/Trigger {}

Note

These commands are critical for controlling the robot’s operational features. Ensure the robot is powered on and connected before executing them.

Ascento Publish Commands

This section provides commands for publishing messages to control and configure various functionalities of the Ascento Research Robot.

Warning

The Ascento operates using a deep-learning control framework. Changing the height deactivates the leg lock, which maintains constant height stability. This makes the robot more susceptible to falling.

Below is a list of publish commands and their purposes:

Command	Description
Standard Height	Sets the robot’s base height. Minimum height: 0.3m. Maximum height: 0.8m. ros2 topic pub /ascento/cmd/base_height_meter_set std_msgs/msg/Float64 "{data: 0.3}"
Command Velocity	Publishes velocity commands to the robot. ros2 topic pub /ascento/cmd/twist geometry_msgs/msg/Twist
Error Clear	Clears error states of the robot. ros2 topic pub /ascento/cmd/clear_error std_msgs/msg/Empty {}
Hard E-Stop	Engages or disengages the hard emergency stop. Engage ros2 topic pub /ascento/cmd/hard_estop_set std_msgs/msg/Bool "{data: true}" Dis-engage ros2 topic pub /ascento/cmd/hard_estop_set std_msgs/msg/Bool "{data: false}"
Soft E-Stop	Engages or disengages the soft emergency stop. Engage ros2 topic pub /ascento/cmd/soft_estop_set std_msgs/msg/Bool "{data: true}" Dis-engage ros2 topic pub /ascento/cmd/soft_estop_set std_msgs/msg/Bool "{data: false}"

Attention

Ensure that commands for E-Stop and velocity are executed responsibly to avoid unintended robot behavior.

Note

These commands allow for precise control of the robot during operation. Confirm the robot is connected and powered on before issuing commands.

Ascento Installation

This section provides instructions for installing and configuring the Ascento Research Robot software.

Important

This repository should already be available and built on Ascento’s Nvidia board if it has been configured by the MYBOTSHOP Team.

Environment Setup

Update `.bashrc`

Add the following lines to your .bashrc file for automatic ROS2 activation:

# Ascento ROS2 Activation
source /opt/ros/humble/setup.bash
source /opt/mybotshop/src/mybotshop/ascento_bringup/hooks/setup.bash

Create Workspace Directory

Create the required directory and set ownership:

sudo mkdir /opt/mybotshop
sudo chown -R administrator:administrator /opt/mybotshop

Repository Setup

Clone Repository and Run Installers

Clone the repository to your local machine, copy it to the Ascento PC, and run the installer scripts:

cd /opt/mybotshop/src/mybotshop/
sudo chmod +x ascento_dependencies.sh
./ascento_dependencies.sh

cd /opt/mybotshop/src/mybotshop/ascento_webserver
sudo chmod +x webserver_installer.sh
./webserver_installer.sh

Build the ROS2 Workspace

Build the workspace and source the environment:

cd /opt/mybotshop
colcon build --symlink-install
source install/setup.bash

Zenoh Configuration

Verify Zenoh Version

The required version is 0.11. Check the installed version:
```
zenoh-bridge-ros2dds --version
```
Remove Incorrect Version

If the version is incorrect, remove it:
```
sudo apt-get remove zenoh-bridge-ros2dds -y
```

Install Correct Version

Navigate to the appropriate directory and install based on hardware (e.g., Nvidia → arch64):

cd /opt/mybotshop/src/mybotshop/ascento_hardware/launch/zenoh/arch64/
sudo dpkg -i zenoh-bridge-ros2dds_0.11.0_arm64.deb

Verify Again
```
zenoh-bridge-ros2dds --version
```
Set Ascento ID

Modify the startup configuration in ascento_bringup/hooks/ to reflect the correct Ascento number.

Final Setup

Run Startup Installers

ros2 run ascento_bringup startup_installer.py

Update Hostname

Set the PC name for the robot:

sudo hostnamectl set-hostname ASCENTO-0000

Update Web Interface

Manually update the robot software version in the index.html file served by the web interface.

Ascento External Computer Installation

This section provides steps for setting up the Ascento software environment on an external computer.

Clone and Build the Workspace

Clone the mbs_ascento package and build it:

colcon build --symlink-install
source install/setup.bash

Configure Zenoh

Zenoh version 0.11 is required. Follow these steps:

• Check Zenoh Version

zenoh-bridge-ros2dds --version

• Remove Incorrect Version

sudo apt-get remove zenoh-bridge-ros2dds -y

• Install Correct Version (Assuming AMD architecture for external computers)

cd ros2_ws/src/mybotshop/ascento_hardware/launch/zenoh/amd/
sudo dpkg -i zenoh-bridge-ros2dds_0.11.0_amd64.deb

• Verify Installation

zenoh-bridge-ros2dds --version

Environment Configuration (Critical)

Important

This step is critical. Ensure the following environment variables are set in every terminal session. Adjust the CYCLONEDDS_CONFIG_PATH according to your system’s setup.

export ASCENTO_NS="ascento_0116"

# Example configuration path:
CYCLONEDDS_CONFIG_PATH=/home/administrator/projects/bipeds/ascento/mbs_ascento/src/mybotshop/ascento_bringup/config/cyclonedds.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI="${CYCLONEDDS_CONFIG_PATH}"

Launch Zenoh and RViz2

• Launch Zenoh

ros2 launch ascento_hardware zenoh.launch.py

• Launch RViz2

ros2 launch ascento_viz view_robot.launch.py

Access to Ascento PC

This section explains how to access the Ascento PC remotely using VNC.

VNC Ascento Startup

The VNC server is typically started by default. If not, use the following commands to manage it manually:

• Start VNC Server

vncserver :1 -geometry 1920x1080 -depth 24 -localhost no

• Check Running VNC Sessions

vncserver -list

• Kill VNC Session

vncserver -kill :1 && rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1

VNC Remote Startup

On your remote PC, follow these steps to access the Ascento interface:

Install TigerVNC Viewer
```
sudo apt install tigervnc-viewer
```
Allow VNC Port Through Firewall
```
sudo ufw allow 5901/tcp
```
Connect via VNC
```
vncviewer 10.42.0.50:1
```

Miscellaneous

This section includes additional commands and processes to enhance the usage and maintenance of the Ascento Research Robot.

Time Synchronization

Sync System Time

Use the following command to sync the system time with Google’s server:

sudo date -s "$(wget --method=HEAD -qSO- --max-redirect=0 google.com 2>&1 | sed -n 's/^ *Date: *//p')"

Sync Host Computer and Ascento Computer

Synchronize the files between the host computer and the Ascento computer:
```
rsync -avP -t --delete -e ssh src administrator@10.42.0.50://home/administrator/ros2_ws
```
Sync Host Computer and Steamdeck

Synchronize the files between the host computer and the Steamdeck:
```
rsync -avP -t --delete -e ssh src deck@10.42.0.150://home/deck/ros2_ws
```

URDF Conversion

Convert a Xacro file to a URDF file using the following command:

ros2 run xacro xacro /home/administrator/ros2_ws/src/mybotshop/ascento_description/xacro/robot.xacro > /home/administrator/ros2_ws/src/mybotshop/ascento_description/xacro/ascento.urdf

Ascento Interface

Static Network Connection

IP Addresses

Ascento Fixposition

Web Interface

Software Upgrade

Configuration

Fusion Configuration

GNSS Configuration

Network Configuration

I/O Configuration

Status

Verification

Ascento Quick Start

Disengage Estops

Motor Homing Start

Standup

Visualization

Ascento Tele-operation

Ascento TF Tree

Ascento ROS2 Drivers

Ascento Startup Services

Ascento Simultaneous Localization and Mapping

Ascento Odometric Navigation

Ascento Map Navigation

Ascento Fixposition

Ascento ZED2i

Ascento Gazebo Fortress

Ascento Simulation

Cleanup After Simulation

Effort Trajectory Control Example

Velocity Control Example

Ascento Intel RealSense D435i

Ascento Mid360 LiDAR

Ascento Data Recording

Ascento Development

Ascento Diagnostics

Ascento Status Commands

Ascento Service Commands

Ascento Publish Commands

Ascento Installation

Environment Setup

Repository Setup

Zenoh Configuration

Final Setup

Ascento External Computer Installation

Access to Ascento PC

VNC Ascento Startup

VNC Remote Startup

Miscellaneous

Time Synchronization

URDF Conversion