Powering on the Husky

Power Button

Power Button
Emergency Switch Release

Emergency Switch Release
Charging Port

Charging Port

  • Ensure the emergency button is released as well as the key is turned to the unlock position.

    ◦ To check if the emergency switch is released, twist the switch in the indicated direction on it. If it pops up, then the switch has successfully been released.

    ◦ If the robot light is yellow, it means that either the emergency switch is not released or the key is not turned.

  • Press the power button on the front of the Husky. It has the power symbol as displayed.

Charging the Husky

_images/charging_indicator.png

LED Voltage Indicators

The power port can be used to charge the Husky. The indicator shows the voltage levels of the Husky and does not necessarily indicate the remaining power available.

Manipulator Activation

To power-on the UR5e and Robotiq 2F-140:

ros2 service call /a200_1025/ur5e_activation/hsky_nano/srv/SerialBoolean "{data: true}"

Launch ROS2 driver for UR5e as well as Robotiq 2F-140:

ros2 launch hsky_manipulation ur5e_robotiq.launch.py

To test the UR5e and gripper you can use Moveit2:

ros2 launch hsky_ur_moveit ur_moveit.launch.py

To power-off the UR5e and Robotiq 2F-140 completely, run:

ros2 run hsky_manipulation remote_shutdown.py

Important

The hsky_manipulation driver should be running when executing the shutdown procedure.

Logitech Controller

  1. Logitech button is to power on the controller.

  2. L1 is the dead man’s switch for slow speed.

  3. R1 is the dead man’s switch for high speed.

  4. LJ is to move in x and y direction.

Steamdeck Controller

_images/steamdeck.png

Steamdeck

Note

The Steamdeck usage is in experimental phase. Loss of connection or (laggy connection) may lead to the robot moving and/or not stopping immediately. Caution should be taken when using the Steamdeck for the operation of the robot!

Steamdeck - Basic Controls

  1. Power button is on the top of the Steamdeck with the power symbol.

  2. R2 for mouse left-click.

  3. L2 for mouse right-click.

  4. Left trackpad for mouse scrolling.

  5. Right trackpad for mouse movement.

  6. L2+R2 for middle mouse button click.

  7. Hold the three dashes (located on the top right of the Steamdeck next to the Y button) for 3 seconds to enter gamepadmode and hold for 3 seconds again to return to desktop mode.

Steamdeck - Initialization with Robot

Before usage:

  1. Ensure the Steamdeck is connected to the robot’s WiFi access point.

  2. Ensure the robot is powered on and operational.

  3. Double tap the Joystick Launcher on the screen to activate the controller for the robot. (Do not open multiple instances of the joystick launchers, as this can cause zombie nodes.)

  4. Double tap the Rviz2 Launcher on the screen to visualize the robot.

Steamdeck - Robot Controls

  1. L1 is the dead man’s switch for slow speed.

  2. R1 is the dead man’s switch for high speed.

  3. LJ is to move in x and y direction.

  4. R5 powers ON the UR5e.

  5. L5 powers OFF the UR5e only if the UR5e driver is running.