Running OpenMower - Revision history

Clemens Elflein at 11:19, 23 August 2022

2022-08-23T11:19:05Z

← Older revision		Revision as of 11:19, 23 August 2022
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	Finally, you can record your mowing areas and the docking station position.		Finally, you can record your mowing areas and the docking station position.

	<big>'''There is also a YouTube animation available, watch that first and then read the following text:~~'''</big>~~ https://www.youtube.com/watch?v=j7qkwuoHJpI
			<big>'''There is also a YouTube animation available, watch that first and then read the following text: https://www.youtube.com/watch?v=j7qkwuoHJpI'''</big>


	I recommend that you start with a simple area with lots of space around first. This way if something goes wrong, your mower won't instantly crash. You will need to record at least one area and your docking station in order to start mowing.		I recommend that you start with a simple area with lots of space around first. This way if something goes wrong, your mower won't instantly crash. You will need to record at least one area and your docking station in order to start mowing.

Clemens Elflein: /* Controls */

2022-08-23T11:18:13Z

Controls

← Older revision		Revision as of 11:18, 23 August 2022
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	== Area Recording ==		== Area Recording ==
	Finally, you can record your mowing areas and the docking station position.		Finally, you can record your mowing areas and the docking station position.

			<big>'''There is also a YouTube animation available, watch that first and then read the following text:'''</big> https://www.youtube.com/watch?v=j7qkwuoHJpI

	I recommend that you start with a simple area with lots of space around first. This way if something goes wrong, your mower won't instantly crash. You will need to record at least one area and your docking station in order to start mowing.		I recommend that you start with a simple area with lots of space around first. This way if something goes wrong, your mower won't instantly crash. You will need to record at least one area and your docking station in order to start mowing.
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	* '''Hold A''' to move the mower using the '''left analog stick.''' Press '''RB for turbo mode.'''		* '''Hold A''' to move the mower using the '''left analog stick.''' Press '''RB for turbo mode.'''
	* '''Press B''' to start / stop recording of the current polygon.		* '''Press B''' to start / stop recording of the current polygon.
	* '''Press Y + UP''' to finish your current area and add it to the map as a '''navigation area'''. The robot is allowed to enter the area for navigation (e.g. driving to another area or to the docking station), but the are will not be mowed by the mower.		* '''Press Y + D-PAD UP''' to finish your current area and add it to the map as a '''navigation area'''. The robot is allowed to enter the area for navigation (e.g. driving to another area or to the docking station), but the are will not be mowed by the mower.
	* '''Press Y + DOWN''' to finish your current area and add it to the map as a '''mowing area'''. The robot will mow this area. You will need '''at least one''' mowing area, for the robot to work.		* '''Press Y + D-PAD DOWN''' to finish your current area and add it to the map as a '''mowing area'''. The robot will mow this area. You will need '''at least one''' mowing area, for the robot to work.
	* '''Press X''' to record the first point of the docking position, '''Press X''' again to record the second position of the docking station and save it to the map.		* '''Press X''' to record the first point of the docking position, '''Press X''' again to record the second position of the docking station and save it to the map.

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	You should now be able to move your mower using the GamePad (see controls section above).		You should now be able to move your mower using the GamePad (see controls section above).


	~~<big>'''There is also a YouTube animation available:'''</big> https://www.youtube.com/watch?v=j7qkwuoHJpI~~

Clemens Elflein at 11:16, 23 August 2022

2022-08-23T11:16:31Z

@@ Line 8: / Line 8: @@
 #An ssh connection to your mower
 #An Xbox GamePad
 #Optional, but very useful: A Linux PC where you can run RVIZ to visualize what your mower is doing
 ==Magnetometer Calibration==
 [[File:Mag Calibration.png|thumb|Example output of the mag_calibration node.]]
-The first step after finishing your assembly is to calibrate the magnetometer. This is important, because the magnets and metal parts embedded in the mower will interfere with the magnetic sensor. That's why it's important to '''do this after finishing the assembly!'''
+After verifying, that the RTK GPS is working as intended, you will need to calibrate your magnetometer. This is important, because the magnets and metal parts embedded in the mower will interfere with the magnetic sensor. That's why it's important to '''do this after finishing the assembly!'''
 In order to start magnetometer calibration, start the OpenMower software on the mower using ssh:
@@ Line 71: / Line 113: @@
 * '''Hold A''' to move the mower using the '''left analog stick.''' Press '''RB for turbo mode.'''
 * '''Press B''' to start / stop recording of the current polygon.
-* '''Press Y''' to finish your current area and add it to the map.
+* '''Press Y + UP''' to finish your current area and add it to the map as a '''navigation area'''. The robot is allowed to enter the area for navigation (e.g. driving to another area or to the docking station), but the are will not be mowed by the mower.
 * '''Press X''' to record the first point of the docking position, '''Press X''' again to record the second position of the docking station and save it to the map.

Potter-91: /* Magnetometer Calibration */

2022-08-05T12:31:34Z

Magnetometer Calibration

← Older revision		Revision as of 12:31, 5 August 2022
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	Press CTRL+C to cancel the data display.		Press <code>CTRL+C</code> to cancel the data display.


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	As soon as you're finished, press the enter button. The final values are printed to the terminal.		As soon as you're finished, press the enter button. The final values are printed to the terminal.

	Stop the first ROS process by pressing CTRL+C.		Stop the first ROS process by pressing <code>CTRL+C</code>.

	You can copy and paste the values into your mower_config.sh.		You can copy and paste the values into your <code>mower_config.sh</code>.

	Now '''reload the mower_config.sh''' by entering:		Now '''reload the <code>mower_config.sh</code>''' by entering:

	<code>source ~/mower_config.sh</code>		<code>source ~/mower_config.sh</code>

Potter-91: /* Recording the Mowing Areas */

2022-08-05T12:29:07Z

Recording the Mowing Areas

← Older revision		Revision as of 12:29, 5 August 2022
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	In order to start recording an area, start the OpenMower software using:		In order to start recording an area, start the OpenMower software using:

	''roslaunch open_mower open_mower.launch''		<code>roslaunch open_mower open_mower.launch</code>

	Before starting the recording, make sure that you have a good GPS fix. You can do that by using the following command '''in a second terminal:'''		Before starting the recording, make sure that you have a good GPS fix. You can do that by using the following command '''in a second terminal:'''

	''rostopic echo /ublox/navrelposned/accLength''		<code>rostopic echo /ublox/navrelposned/accLength</code>

	This will print the current GPS accuracy in '''0.1 mm''' steps. At full accuracy, you should get a value of 100. '''If it is larger, check your GPS config!'''		This will print the current GPS accuracy in '''0.1 mm''' steps. At full accuracy, you should get a value of 100. '''If it is larger, check your GPS config!'''


	Now, with the OpenMower software running and with a good GPS fix, you can start the area recording process. '''For this you will need a gamepad connected to your mower.''' ~~Start the recording process by either pushing the S1 button on your mower or by executing the following command in a terminal to simulate the button press:~~		Now, with the OpenMower software running and with a good GPS fix, you can start the area recording process. '''For this you will need a gamepad connected to your mower.'''

	~/open_mower_ros/utils/mower_buttons/press_s1.sh		Start the recording process by either pushing the S1 button on your mower or by executing the following command in a terminal to simulate the button press:

			<code>~/open_mower_ros/utils/mower_buttons/press_s1.sh</code>

	You should now be able to move your mower using the GamePad (see controls section above).		You should now be able to move your mower using the GamePad (see controls section above).

Potter-91: /* Magnetometer Calibration */

2022-08-05T12:26:04Z

Magnetometer Calibration

← Older revision		Revision as of 12:26, 5 August 2022
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	In order to start magnetometer calibration, start the OpenMower software on the mower using ssh:		In order to start magnetometer calibration, start the OpenMower software on the mower using ssh:

	''roslaunch open_mower _comms.launch''		<code>roslaunch open_mower _comms.launch</code>

	This will start the communication layer between ROS and the mower's hardware.		This will start the communication layer between ROS and the mower's hardware.
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	You can test, that the communication works by using the following command:		You can test, that the communication works by using the following command:

	''rostopic echo /mower/imu''		<code>rostopic echo /mower/imu</code>

	You should now see the raw IMU data printed to the terminal. If this is not the case, you have an error in your setup.		You should now see the raw IMU data printed to the terminal. If this is not the case, you have an error in your setup.
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	Now you can start the calibration process by entering:		Now you can start the calibration process by entering:

	''rosrun mower_logic mag_calibration''		<code>rosrun mower_logic mag_calibration</code>

	Now rotate the mower '''slowly''' around all three axes.		Now rotate the mower '''slowly''' around all three axes.
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	Now '''reload the mower_config.sh''' by entering:		Now '''reload the mower_config.sh''' by entering:

	''source ~/mower_config.sh''		<code>source ~/mower_config.sh</code>

	== Area Recording ==		== Area Recording ==

Potter-91: add map recording yt animation

2022-08-05T11:16:09Z

add map recording yt animation

← Older revision		Revision as of 11:16, 5 August 2022
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	You should now be able to move your mower using the GamePad (see controls section above).		You should now be able to move your mower using the GamePad (see controls section above).


			<big>'''There is also a YouTube animation available:'''</big> https://www.youtube.com/watch?v=j7qkwuoHJpI

Clemens Elflein at 23:50, 21 June 2022

2022-06-21T23:50:50Z

← Older revision		Revision as of 23:50, 21 June 2022
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	* The '''navigation area''' is the area which the robot may enter during navigation. This is needed to roam between mowing areas and also to find a way to the docking station, if it's not inside a mowing area.		* The '''navigation area''' is the area which the robot may enter during navigation. This is needed to roam between mowing areas and also to find a way to the docking station, if it's not inside a mowing area.
	* The '''docking station''' is defined by a position and an orientation. Since the orientation of the mower is not 100% perfect due to magnetometer noise, we'll record two points which are then connected by a line. The direction of this line determines the docking orientation. More on that later		* The '''docking station''' is defined by a position and an orientation. Since the orientation of the mower is not 100% perfect due to magnetometer noise, we'll record two points which are then connected by a line. The direction of this line determines the docking orientation. More on that later
	[[File:OpenMower Gamepad.png\|thumb\|OpenMower Gamepad Controls]]		[[File:OpenMower Gamepad.png\|thumb\|OpenMower Gamepad Controls <small>(image licensed from shutterstock.com)</small>]]

	=== Controls ===		=== Controls ===

Clemens Elflein at 23:37, 21 June 2022

2022-06-21T23:37:06Z

← Older revision		Revision as of 23:37, 21 June 2022
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	* The '''navigation area''' is the area which the robot may enter during navigation. This is needed to roam between mowing areas and also to find a way to the docking station, if it's not inside a mowing area.		* The '''navigation area''' is the area which the robot may enter during navigation. This is needed to roam between mowing areas and also to find a way to the docking station, if it's not inside a mowing area.
	* The '''docking station''' is defined by a position and an orientation. Since the orientation of the mower is not 100% perfect due to magnetometer noise, we'll record two points which are then connected by a line. The direction of this line determines the docking orientation. More on that later		* The '''docking station''' is defined by a position and an orientation. Since the orientation of the mower is not 100% perfect due to magnetometer noise, we'll record two points which are then connected by a line. The direction of this line determines the docking orientation. More on that later
			[[File:OpenMower Gamepad.png\|thumb\|OpenMower Gamepad Controls]]

	=== Controls ===		=== Controls ===

Clemens Elflein at 22:24, 21 June 2022

2022-06-21T22:24:40Z

@@ Line 7: / Line 7: @@
 #A working system image, where you can run the OpenMower software
 #An ssh connection to your mower
 #Optional, but very useful: A Linux PC where you can run RVIZ to visualize what your mower is doing
 ==Magnetometer Calibration==
 The first step after finishing your assembly is to calibrate the magnetometer. This is important, because the magnets and metal parts embedded in the mower will interfere with the magnetic sensor. That's why it's important to '''do this after finishing the assembly!'''
-In order to start magnetometer calibration, start the OpenMower software on the mower using: `roslaunch open_mower open_mower.launch`
+In order to start magnetometer calibration, start the OpenMower software on the mower using ssh: