MMP Husky ATC

_images/husky_atc_side.png

This specifies the configuration for Husky ATC. It has an Ouster lidar, Nvidia Orin, Zed2i depth camera, Cradlepoint Router, Qoocam, xARM6, Robotiq 2F-140 gripper, and Blickfeld Lidar.

Getting Started

To start-up the Husky, the instructional video playlist can be used which details the opening and use of the Husky.

Auxiliary Sensor Startup

On husky startup the following drivers are started:

  • Husky base driver

  • Ouster

  • Blickfeld

The xARM6, Robotiq 2F-140, Ouster, Zed2, and Blickfeld are powered on when the Husky robot starts. However, only the software drivers for Ouster and Blickfeld are activated on start-up.

For Qoocam, the camera has to manually be turned on and be set to live mode for the camera to provide a livestream. More on this in the Qoocam section.

Network-Setup

The Husky ATC has multiple networks and vary slightly, the following table shows the networks.

Husky-ATC network devices

Device

Network Address

Users

Password

Husky

192.168.131.1

administrator

clearpath

Nvidia

192.168.131.2

administrator

clearpath

Blickfeld

192.168.131.3

N/A

N/A

xARM6

192.168.131.4

N/A

N/A

xARM6 Web

192.168.131.4:18333

N/A

N/A

Qoocam

192.168.131.5:8554

N/A

N/A

Ouster

192.168.132.1

N/A

N/A

Router

192.168.131.101

root

clearpath

Operation

To use the connect and use the MMP Husky, the following steps must be followed:

  1. Connect to the Husky WiFi (Password is clearpath).

  2. ssh into the husky via:

$ ssh -X administrator@192.168.131.1
$ clearpath

The following message will show up with quick instructions for startup.

-------------------------------------------------------------------------------
__  ____     ______   ____ _______ _____ _    _  ____  _____           _____
|  \/  \ \   / /  _ \ / __ \__   __/ ____| |  | |/ __ \|  __ \         / ____|
| \  / |\ \_/ /| |_) | |  | | | | | (___ | |__| | |  | | |__) |  _   _| |  __
| |\/| | \   / |  _ <| |  | | | |  \___ \|  __  | |  | |  ___/  | | | | | |_ |
| |  | |  | |  | |_) | |__| | | |  ____) | |  | | |__| | |      | |_| | |__| |
|_|  |_|  |_|  |____/ \____/  |_| |_____/|_|  |_|\____/|_|       \__,_|\_____|

Current PC: Husky
-------------------------------------------------------------------------------

Husky IP:     192.168.131.1 (ssh -X administrator@192.168.131.1)
Pswd:         clearpath

Nvidia IP:    192.168.131.2 (ssh -X administrator@192.168.131.2)
Pswd:         clearpath

Blick IP:     192.168.131.3

xARM IP:      192.168.131.4
xARM IP Web:  192.168.131.4:18333

Qoocam IP:     192.168.131.5:8554 (RTSP)

Ouster IP:    192.168.132.1

WiFi IP:      192.168.131.101
Pswd:         clearpath
Router Name:  root

-------------------------------------------------------------------------------
Husky-Drivers
-------------------------------------------------------------------------------

Husky status:     sudo service mbs_husky status
Husky start:      sudo service mbs_husky start
Husky stop:       sudo service mbs_husky stop
Husky restart:    sudo service mbs_husky restart

View robot:       roslaunch mbs_husky_viz viz.launch

-------------------------------------------------------------------------------
Auxiliary driver:
-------------------------------------------------------------------------------

Ouster driver:   roslaunch mbs_husky_lidars top_laser.launch
                (Launches on startup)

Blick driver:    roslaunch mbs_husky_lidars top_laser.launch
                (Launches on startup)

xARM driver:     roslaunch mbs_husky_xarm_interface real_arm_moveit.launch
                (Doesnt launch on startup)

-------------------------------------------------------------------------------

Custom Startup Job

The launch file mbs_husky.launch in the catkin package of mbs_husky_startup includes everything which is being launched at the startup. Startup job and its content can be verified in the directory /etc/ros/noetic, here the original launch file will be copied.

Warning

Do not create multiple startup jobs with multiple launch files this will break the system. Only one launch file should be created and everything else should be included in this.

If the systems breaks at startup you can start debugging by:

roslaunch mbs_husky_startup mbs_husky.launch

This will show which part of the launch file is having errors or you can start running everything in the launch file one by one in separate terminals.

Adding ROS-Nodes & Launch Files to Robot Startup

  1. Navigate and open mbs_husky_startup/launch/mbs_husky.launch.

_images/mbs_husky_launch.png

  1. Add your custom node or launch file.

  2. Run the following script:

rosrun mbs_husky_startup startup_script.sh

  1. Verify if it is working correctly via:

sudo service mbs_husky status

Important

Once you add your custom node or launch files in the mbs_husky.launch, you will need to run rosrun mbs_husky_startup startup_script.sh so that it updates the start-up job on the Husky’s PC otherwise it will not be updated.

Ouster

_images/husky_atc_ouster.jpg

To manually launch the ouster driver, the following command can be used:

roslaunch mbs_lidars top_laser.launch

Important

Please note that the lidars launch on start-up. Running it again will shut them down. They can be disabled by following the instuctions in the Custom Startup Job.

Blickfeld

_images/husky_atc_blickfeld.jpg

To manually launch the blickfeld driver, the following command can be used:

roslaunch mbs_lidars front_laser.launch

Important

Please note that the lidars launch on start-up. Running it again will shut them down. They can be disabled by following the instuctions in the Custom Startup Job

ZED2i

_images/husky_atc_zed2i.jpg

On the robot start-up the Nvidia Orin starts, however, the Zed2i has to be manually launched.

  • ssh into the Nvidia Orin via:

ssh -X administrator@192.168.131.2
clearpath

  • To launch the ZED2i run the command.

roslaunch zed_wrapper zed2i.launch

Customization of the camera position can be done here via the launch file.

Note

It may take upto a minute for all the drivers of the Nvidia to start. The stream for the ZED2 is transferred over to the main Husky PC via ROS multi machine. An example stream can be viewed rostopic echo /zed2/zed2_node/rgb/image_rect_color.

The information can be verified via:

rostopic list

Important

The ZED2i requires USB 3.0 port and in the installed Nvidia board there is one available USB 3.0 port. So incase of removal please plug in the ZED2i into the same initial port it was in.

Qoocam

_images/husky_atc_qoocam.jpg

To start the Qoocam driver.

  1. First you must power on the Qoocam by pressing the power button.

  2. Once Qoocam is powered on, swipe left on its touch screen and launch live mode.

  3. Ensure that the ethernet cable is connected. The router will automatically assign it the ip of 192.168.131.5.

  4. Click the middle button of the Qoocam to start the RTSP stream.

  5. Now launch the qoocam driver in the Husky via:

roslaunch mbs_qoocam qoocam_to_ros.launch

The driver will fail if it does not receive the camera stream.

Note

Please note that the Qoocam has limited battery life and must be charged fully for optimal use.

xARM6

Warning

Please disconnect the xARM6 when removing the batter to ensure that the connector is not damaged. Also ensure that there is sufficient charge in the Husky when using the xARM6.

  • The xARM6 firstly requires its power connector to be connected. It is located next to the battery of the Husky.

  • Once connected, launch the xARM6 hardware driver, via the command:

roslaunch mbs_husky_xarm_interface real_arm_moveit.launch

An emergency power cut-off for the xARM6 is available in the auxiliary frame of the Husky.

_images/husky_atc_emergencystop.jpg

Robotiq 2F-140

  • To launch the Robotiq 2f-140 hardware driver, run the command:

roslaunch mbs_xarm_robotiq robotiq_hardware_driver.launch

Important

The robtiq is controlled via ros action client. Examples are provided in the mbs_xarm_robotiq/nodes/test_robotiq_gripper.py file.

Visualization

  • The visualize the robot model.

roslaunch mbs_viz viz.launch
_images/husky_atc_viz.png

MMP Husky xARM6 URDF