Pengo

From Cogniteam
Jump to: navigation, search
WhatsApp Image 2016-11-02 at 11.07.40.jpeg

Pengo Educational Robot

Pengo includes

  • 3D camera
  • 2D Lidar
  • Speakers
  • Lilt unit
  • Bumper sensor
  • Battery monitoring
  • Charging base unit
  • 2 Linux servers pre-configured with ROS
  • Screen with animation for HMI, ROS controlled

Pengo Internal documentation

  • Pengo (internal) documentation can be found here (Password protected)
  • Pengo
  • This effort is now deprecated. New systems are all open sourced.

Pengo User/Password

1 User: pengo
2 Password : pengo

Pengo remote login

1 ssh pengo@pengo_ip


Pengo network Configuration

Pengo IP configuration

Configure static ip:

1 sudo nano /etc/network/interfaces

Now, paste this under # The primary network interface:

1 auto lo
2 iface lo inet loopback
3 iface ens33 inet static
4         address xxx.xxx.xxx.xxx(enter your ip here)
5         netmask xxx.xxx.xxx.xxx(usually, 255.255.255.0)
6         gateway xxx.xxx.xxx.xxx(enter gateway ip here,usually the address of the router)
7         dns-nameservers 8.8.8.8


Restrat networking:

1  systemctl restart ifup@eth0

At this point you can check if the settings are correct:

1 ifconfig

ROS IP configuration

Run the following commands in the terminal:

1       cd ~
2       pico pengo.config

Edit the parameters under 'User Settings' to have the same IP as from stage 3:

  * PENGO_IP= YOUR_STATIC_IP
  * PENGO_ROS_MASTER = YOUR_STATIC_IP


Reboot the computer and you're ready.

ROS launch configuration

Navigate to:

1        cd ~

Run the launch file: Note, there is a 15 seconds delay to assure that all of the configurations are done.

1        . pengo-startup

Pengo ROS topics

Topic Description
/odom Wheels controller.
/scan Scanning an area.
/move_base/goal Move to a certain target.
/mobile_base/sensors/imu_data Data coming from the IMU sensor.Compass, Accelerometer
/agentN/ackermann_cmd Velocity command
/amcl_pose Absolute position published by AMCL node (localization)
/agentN/imu Compass, Accelerometer
/map A map used for localization

Mapping and localization with Pengo

To control the Pengo you can use Cogniteam's Android app.

This category currently contains no pages or media.