RML Guide: Running Spirit

This document is for internal RML infrastructure, and is not relevant for external users.

Refer to The Ghost Robotics Quickstart Guide for more detailed information on how to run the robot with the default firmware and how to handle the physical components of the robot.

Initializing the Robot

• Connect the battery to the terminal and fasten it down with the velcro
• (Optional) If the correct joint positions matter, arrange the legs in the neutral position
• Flip the on switch
• From the remote computer, wait until the wireless network "Spirit-RML-5G" appears, then connect to it with standard lab password.
• Connect to the robot with (pwd ghost):

ssh [email protected]

• Set up the robot environment and optionally run the robot driver with inverse dynamics controller:

source launch_robot_env.sh

• Refer to Launch, Node and Topic Structure for optional arguments to robot_driver if preferred over the bash script.

Initializing the remote computer

• Before starting, make sure:
  • You are connected to the robot's wifi and have set a manual static IP of 192.168.8.102 if connected via ethernet or 192.168.8.103 if connected via wifi
  • ~/catkin_ws/src/quad-software is a valid path (if not, just manually source whichever workspace you use)
• To run the source the environment, launch the visualization stack, and establish a heartbeat connection, open a new terminal and run the following (and optionally download/build new code, also declining to launch the remote driver will still set up your environment correctly)

source launch_remote_env.sh

• Refer to Launch, Node and Topic Structure for optional arguments to remote_driver if preferred over the bash script.
• Press Ctrl-C to stop the run