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--- documentation:robots:heron [2022/03/22 08:27] – created volkerk
+++ documentation:robots:heron [2024/10/28 15:56] (current) – [Starting the Robot] marcusk
@@ Line 1: / Line 1: @@
-This is the page about Heron
+====== HERON ======
+===== Usage Guide =====
+Here follows some instructions on how to work with the Heron robot. Jacek has added something here.
+==== Starting the Robot ====
+The first step is to power on the MiR by pressing the power button in one of the corners of the robot: \\
+{{:documentation:robots:start_robot.jpg?direct&400|}} \\
+There are two buttons, one yellow (to the left) and one blue (to the right).
+The blue one is the power button.
+After pressing the power button, the lights on the sides of MiR should start lighting up.
+Wait for a few seconds and then power on the Robotmind2 PC inside the chassis:\\
+{{:documentation:robots:start_robotmind2.jpg?direct&400|}} \\
+There will be no indication that the PC is starting, so you just have to trust the process.
+Wait for another few seconds and then power on the UR5E arm by pressing the power button on the tablet: \\
+{{:documentation:robots:start_arm.jpg?direct&400|}} \\
+It will take a minute or two for the arm to start.
+Once the arm is started, on the tablet you press "Load Program" and select "robotmind2.urp".
+Now a program should be selected to finialize the startup you need to find the wireless emergency stop: \\
+{{:documentation:robots:wireless_emergency_stop.jpg?direct&400|}} \\
+Unplug the charger cable. Reset the stop, and you should be able to start the robot arm by finally doing: \\
+Press the round button in the lower left corner of the tablet (it should be red when the arm is just started).
+Then power on, and enable the arm.
+==== Starting ROS ====
+A prerequisite for running ROS is that all components are connected to either "Heron Mobile Wifi 5G" or "Heron Wifi 5G".
+These two networks are linked, so it doesn't matter which one you connect to. \\
+All the components on Heron should automatically connect to "Heron Mobile Wifi 5G". \\
+If MiR doesn't automatically connect, see [[troubleshooting:heron_common_issues#mir_is_not_connected_to_the_heron_wifi|MiR is not connected to the Heron wifi]].
+Now, ssh into Robotmind2:
+<code bash>
+ssh <user>@192.168.0.8
+robotmind2$ roscore &
+robotmind2$ mon launch heron_robot real.launch
+</code>
+Next, on the tablet for the UR5E arm, you need to press the play button and start the robotmind2 program.
+Now everything should be ready for all your ROS activities.
+===== Accessing the MiR PC (for maintenance) =====
+There are two ways for us to get into the MiR PC for maintenance: SSH or Manually. \\
+Maintenance user: mirex \\
+password: 12345
+More information about the MiR PC and how to access is [[internal:documentation:heron|available here.]]
+==== SSH ====
+Make sure that you can connect to the MiR over a network.
+^ Wifi                  ^ MiR IP         ^
+| MiR_s1319             | 192.168.12.20  |
+| Heron Mobile Wifi 5G  | 192.168.0.3    |
+| Heron Wifi 5G         | 192.168.0.3    |
+In a terminal, type:
+<code bash>
+ssh mirex@<Insert MiR IP here>
+</code>
+You will then be prompted for the password (12345).
+==== Manually ====
+You can manually connect to the MiR PC using a monitor and keyboard as follows. \\
+First, simply pull off the port cover right below the power button (grab the plastic cover and pull straight out). \\
+{{:documentation:robots:mir_port_cover.jpg?direct&400|}}
+Second, plug in a monitor in the HDMI port: \\
+{{:documentation:robots:mir_hdmi_port.jpg?direct&400|}}
+Third, plug in a keyboard in the USB port inside Heron's chassis (the USB port next to the HDMI port doesn't seem to be working). \\
+{{:documentation:robots:mir_usb_port.jpg?direct&400|}}
+Now you should see a prompt on the monitor asking you to log in.
+If you don't see anything, make sure the monitor is set to the correct input (HDMI 1/2). \\
+Simply type the username (mirex).
+You will then be asked to type in the password (12345).