Differences

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--- documentation:robots:heron [2022/03/23 15:23] – simonkl
+++ documentation:robots:heron [2024/10/28 15:56] (current) – [Starting the Robot] marcusk
@@ Line 2: / Line 2: @@
 ===== Usage Guide =====
-Here follows some instructions on how to work with the Heron robot.
+Here follows some instructions on how to work with the Heron robot. Jacek has added something here.
 ==== Starting the Robot ====
@@ Line 18: / Line 18: @@
 {{: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". \\
+Once the arm is started, on the tablet you press "Load Program" and select "robotmind2.urp".
-Finally you press the round button in the lower left corner of the tablet (it should be red when the arm is just started).
+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.
@@ Line 26: / Line 32: @@
 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".
+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]].
-===== Accessing the MiR PC =====
+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 ====