Pioneer 2 / PeopleBot Updating & Reconfiguring P2OS, Where to Get P2OS Software, Updating P2OS

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Updating and Reconfiguring P2OS

Chapter 7 Updating & Reconfiguring P2OS

The P2OS server software and a set of operating parameters get stored in your robot’s microcontroller's FLASH ROM. With special download and configuration utilities, you may change and update the FLASH memory image without physically replacing any hardware.

Where to Get P2OS Software

Your ActivMedia robot comes preinstalled with the latest version of P2OS. Thereafter, stay tuned to the pioneer-usersnewsgroup or periodically visit our support website to obtain the latest P2OS and related documentation:

http://robots.activmedia.com

Installing the P2OS Utilities

Software utilities for downloading a new P2OS (p2osdl) and for changing your robot’s configuration parameters (p2oscf) come with your robot on CD-ROM and in the onboard computer. Fresh copies and updates also may be downloaded from the support website bundled with the P2OS image. Use the version that matches your host computer’s environment. For example, use p2osV_r.tgz for RedHat© Linux or p2osV_r.EXE with Microsoft Windows© 9x/ME systems ("V" is the version number and "r" is the revision number; p2os1_J, for example).

The p2osV_r.EXE distribution is a self-extracting, self-installing package: Simply follow the on-screen directions. For the Linux/UNIX versions, uncompress and untar them using the appropriate system utilities. For example, with the Linux version:

% tar –zxvf p2os1_J.tgz

The command creates a p2os/ directory in the current path and stores the P2OS software there.

Updating P2OS

Use the p2osdl(.exe) program that comes with each distribution to download a fresh copy of PSOS to your robot’s microcontroller’s FLASH ROM.22

An onboard radio modem typically interferes with P2OS download and reconfiguration.

You may need to remove its connector from the Host serial port

inside the robot on the microcontroller.

Step 1. Serial Connection from Computer to Robot

Connect your Pioneer 2 or PeopleBot to your host computer through their respective serial ports. If you have an onboard PC, use it to perform the download or switch its power OFF. Otherwise, use a direct (“straight-through”) serial tether from your PC to the 9-pin SERIAL connector on your robot’s Console. If you have an onboard radio modem, you may have to remove its serial connector from the Host serial port on the microcontroller by reaching in with your fingers through the rectangular access port on the Deck. See Appendix A for port location. Sorry about the inconvenience—the modem interferes with the direct connection.

22The p2osdl program may update your robot’s configuration parameter setting, so be sure to use the program that matches your current P2OS version.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSoftware NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Client SoftwareHttp//robots.activmedia.com ActivMedia Robotics Basic SuiteAria SaphiraPioneer Pioneer LegacyPioneer 2 and PeopleBot Page Modes of Operation Physical Characteristics Specifications & ControlsMain Components Decks and Console Pioneer 2-AT Console and hinged DeckBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Electronics Batteries and PowerMotors and Position Encoders Controls, Ports, and Indicators Liquid-Crystal Display & Contrast Adjustment Reset and MotorsSerial Pioneer 2 Arm-related SIPs and Commands Safety Watchdogs and ConfigurationPeopleBot Sensors and Emergency Stop Preparative Assembly Saphira Client InstallationQuick Start Http//robots.activmedia.comSaphira Client Start-Up Robot Cold Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joystick Connection Joydrive and Self-TestsJoydrive Operation Engaging Self-Tests Motors TestPress again to begin tests Left forward 13.2Sonar Test BumpersGripper CompassDigin and Digout Test Analog TestsUser PWMs Digin DigoutPioneer 2 Operating System Communication Packet ProtocolPacket Data Types Packet ErrorsPacket Checksum Name Data Type Description Client Commands Server Information PacketsBefore Client Connection Client Command Argument Types PtuposSaphira Client Command Support AutoconfigurationProgramming P2OS Establishing a Client-Server Connection-SYNCKeeping the Beat-PULSE Movement CommandsClosing the Connection-CLOSE Pioneer in Motion PID ControlsSonar Position IntegrationEstop and Estall SfRobotComInt44,1Extended Packets CONFIGpac and Config CommandPacket Processing SERAUXpac and Getaux ENCODERpac and Encoder Command PLAYLISTpac and Playlist CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumTCM2pac and TCM2 Command DIGIN, TIMER, and AdselInput / Output I/O SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Updating & Reconfiguring P2OS Where to Get P2OS SoftwareInstalling the P2OS Utilities Updating P2OSEnable Flash Put Microcontroller into Download ModeDownload Troubleshooting Run p2osdlConfiguring P2OS Operating Parameters Steps 1-3 Preparing for ConfigurationChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Arm Parameters Saving and RestoringSave C\p2os\myP2DX Keyword PID Parameters Encoder and RevcountCalibration Tools revcountcal and compasscal Parameter DXe Performance PBCompasscal /dev/ttyS3 Drive Lubrication Maintenance & RepairBatteries Getting Inside Alternative Battery ChargersRemoving the Nose Opening the Deck Remove indicated screws to remove Original Pioneer 2-AT DeckFactory Repairs Support@activmedia.com 603 924-2184 fax 603 924-9100 voiceAppendix a C166 Controller Ports & ConnectionsInternal Serial Connectors User I/O Expansion PortPerformance PeopleBot I/O Pin Label UseGeneral I/O Bus User Power Connections Power Switch J7 and Delayed Shutdown LogicAppendix B Onboard Computer OptionPower-State Logic Computer PowerJoystick Connector Appendix CSpecifications Appendix DControls and Ports Index ControlsSpecifications Warranty & Liabilities Page Concord Street Peterborough, NH 603

2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.
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