ActivMedia Robotics

When manually joysticking the robot, each keypress moves the robot forward or backward faster or slower and incrementally changes its direction. For instance, when turning, it is often useful to press the left- or right-turn key rapidly several times in a row, because the turn increment is small.

Disconnecting Serial Communications (intentionally or unintentionally)

When you finish playing with your robot, pull down the Saphira client’s Connect menu and choose the Disconnect option.

Your Pioneer 2 or PeopleBot will disengage its drive motors and stop moving automatically, and its sonar should stop firing. The LCD also should return to the waiting-state message. You may now slide the robot’s Main Power switch to OFF.

Quickstart Troubleshooting

You must have a valid Saphira license to connect with a robot. Unlicensed Saphira clients may only connect with the simulator. Licensed versions of Saphira come with the robot and can be downloaded by customers from the ActivMedia Robotics support website:

http://robots.activmedia.com.

Figure 18. Please, gracefully disconnect the Saphira client from the robot server.

Most problems occur when attempting to connect the Saphira client with a robot for the first time. Make sure you have Saphira properly installed and its related environment variables set. It's also a good idea to recheck that the serial cable is plugged into a working serial port on your computer.

UNIX and Linux users should be sure they have permission to read/write the connection serial port. On the server side, make sure your radio modem is ON, if that is the connection route.

If you access the wrong serial port, the Saphira demonstration program will complain, "Error opening" that selected serial port. If the robot server isn't listening, or if the serial link is severed somewhere between the client and server (cable loose, or a modem OFF, for instance), the client will attempt to "Syncing 0" six times and fail with a "Connection refused." In that case, reset the robot and check your serial connections. For instance, if you are using the InfoWave radio modems, the DCD lamp on the host should light up. If it doesn't, it means it cannot find the one in the robot.

Once successfully connected, remember that the robot won't move unless its motors are engaged, and that you have to manually engage the motors just after you make a connection with a client, not beforehand.

If for some reason, communications get severed between the Saphira client and P2OS server, but both the client and server remain active, you may revive the connection with little effort: If you are using radio modems, first check and see if the robot is out of range.

To test for range limits, simply pick up the robot and move it closer to the basestation radio modem. If the robot was out of range, the connection should resume. If not, check to make sure that radio modems were not inadvertently switched OFF.

Communications also will fail if the client and/or server is somehow disabled during a session. For instance, if you inadvertently switch off the robot’s Main Power or press the

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Pioneer 2 / PeopleBot manual Quickstart Troubleshooting, Http//robots.activmedia.com
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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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