documentation:robots:heron [robotwiki]

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====== 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).