Startup Procedure

Before proceeding further please make sure everything is installed correctly by following the Installation section. Follow these steps to start the MoMo:

Power On

Press the main power button to start the board computer on the robot and then press the power button on the NUC to turn on the NUC.

Check connection

From the board computer, open a terminal and ping the NUC to verify if it is ON using:

ping 192.168.1.1 # change IP address if different

Replace the IP address with your own configured IP address for the NUC. Follow this tutorial to set static ip for both computers.

Start command

Open up a terminal on the main computer and run the following command:

wakeupmomo

wakeupmomo is an alias which starts a catmux session.

wakeupmomo command opens up four terminals, three of them SSHs into the NUC and one of them starts the joystick node in ROS 2.

More details about catmux can be found here.

Now you can move the robot using joystick connected to the main board computer in ROS 2. The velocity commands are sent to the robot over the /cmd_vel topic.

If it does not work, kill the session using the below command and try again:

stopmomo

Note: Just closing the terminals is not enough, you need to kill the catmux session using the above command.

Shutdown and Cleanup

To completely shutdown the robot including both the computers, enter the following command on the main board computer terminal:

sleepmomo