How to setup LibRob

Table of contents

• Connecting and setting up the Raspberry Pi
• Launching LibRob
• (Optional) Troubleshooting router connection

---

Connecting and setting up the Raspberry Pi

The first step is to connect to the Raspberry Pi from your Laptop and check whether everything is connected properly to the Pi. Follow the following instructions:

1. Check that the Pi and router are powered by the batteries, that the Lidar, robot, microphone and controller are connected by USB to the Pi and that the router is connected to the Pi by ethernet.
2. Connect to the LibRob Wi-Fi on your Laptop (if you can't find it go to the Troubleshooting part)
3. Open a terminal window
4. Type ssh ubuntu@ros-pi.lan to connect to the Pi
5. Password: ubuntu

---

Launching the robot

The next will be to run the relevant launch files in order to start the Operation of LibRob. Follow these instructions:

1. Turn on the robot
2. Go to terminal
3. Type cd catkin_ws/src/ to go the GitLab repo
4. You can type git pull if you're not sure whether you have the latest version
5. Type tmux to open a virtual terminal (so you don't close all the processes if there is a connection failure, if it does fail use tmux a to "reattach" your virtual terminal)
6. run roslaunch librob start_Pi.launch on the Pi
7. run roslaunch librob start_laptop.launch on the Lenovo laptop
8. Adjust the initial position of the robot on rviz

Note: If the launch files mention an error with the USB ports you'll have to swap the USB ports on the rplidar.launch and teleop.launch files. The rplidar will either use USB0 or USB2 and the teleop will be USB0 or USB1

---

Troubleshooting the router connection

The router might run into issues when it tries to set up our LAN in the library. If that's the case, you won't have internet access through LibRob or you won't see the librob Wi-Fi option. If this happens, try this:

1. If you don't see the LibRob WiFi connect to the router using an ethernet cable (not necessary if you can connect but can't access Pi or internet)
2. Go to your favourite browser and type 192.168.2.1 in the search bar
3. Connect using username: root, Password: root credentials
4. Go to Network/wireless/overview
5. Click the scan button on the first item of the list
6. Find the channel number of the strongest Imperial-WPA signal
7. Go back to overview and edit the librob client to the right channel number