This guide describes how to parametrize and start EMROS-EM5.
Nanotec's mobile drive and technology platform RP-NTH-2D01-C1-xx-xx. It contains:
-2xPD4-E591L42-E-65-2 a high-pole DC servo motor (stepper motor) with encoder and integrated controller
Powersupply (e.g. Battery)
USB-Type-B-Kable for EM5
PC with Toolchain fitting for EM5 (e.g. Eclipse as described here)
Connect the EM5 via USB to Your configuration computer. The EM5 will appear as a drive in the file system.
If not already done, clone the repository as described in the section "Clone Repro" in this relating tutorial.
Update Firmware of EM5
The new firmware of EM5 is a file with the ending EM5-FEM-vxxxx-Bxxxxxx.fw in the folder YOUR_REPRO_LOCATION/nanotec/fw/. Copy this file.
Navigate into the filesystem of the EM5 (it is /media/em5/). Create a folder with the name fw on the EM5.
Paste the .fw file into the created folder /media/em5/fw/
Restart the EM5, the firmware will be updated.
Restart again when the firmware update has finished.
Copy the content of YOUR_REPRO_LOCATION/emros/sd-card/2WD/ into the file system of EM5.
Hint: "2WD" fits for differential drive system as RP-NTH-2D01-C1-xx-xx whereas "4WD" fits for a (four wheel) Mecanum drive system (if You build a robot with four wheels choose YOUR_REPRO_LOCATION/emros/sd-card/4WD/).
Open the file `EM5/config/ethernet.ini'. This file configures the network address of the EM5. Edit the fields address, netmask and gateway suitable for Your network and application. Hint for best practice: The EM5 and the on-board computer should be in the same ethernet sub-network.
Restart the EM5 to apply the new configuration.
Open the Code of Your local EMROS-EM5 repository.
Edit in the file main.cpp the IP-Address for the ROS-PC to the actual IP-address of Your on-board ROS-PC.
Flash EMROS-EM5 into EM5
Build and Flash as described in the section "Setup Eclipse - General" in this relating tutorial.
EMROS-EM5 (as every EM5-Userprogram) is saved on EM5 as file with the ending .emp (= Embedded Master Program). By default EMROS-EM5 is build and flashed as debuggee.emp, wich means that it can be interfaced with a GDB-Debugger.
Restart the EM5.
Start EMROS-EM5 by touching at debuggee symbol on the display.
The EM5 wll show the GUI of EMROS-EM5 with its two tachometers:
It is possible to scroll down to a GUI with several debug information.
EMROS-EM5 waits now for commands from it's counterpart (running at Your on-board pc).
Please continue with this instruction, relating EMROS-ROS: