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Pengo Internal documentation

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


  • PC Connection: USB or via RX/TX pins on the parallel port
  • Motor Overload Detection: disables power on detecting high current (>3A)
  • Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
  • Gyro: factory calibrated, 1 axis (110 deg/s)Bumpers: left, center, right
  • Cliff sensors: left, center, right
  • Wheel drop sensor: left, right
  • Power connectors: 5V/1A, 12V/1.5A, 12V/5A
  • Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
  • Audio : several programmable beep sequences
  • Programmable LED: 2 x two-coloured LED
  • State LED: 1 x two coloured
  • LED [Green - high, Orange - low, Green & Blinking - charging]
  • Buttons: 3 x touch buttons
  • Battery: Lithium-Ion, 14.8V, 4400 mAh (4S2P - large) can be doubled
  • Firmware upgradeable: via usb
  • Sensor Data Rate: 50Hz
  • Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
  • Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
  • Docking IR Receiver: left, centre, right

Pengo Wearhouse Robot

Pengo-wearhouse.jpg Pengo-wearhouse-2.jpg

  • Up to 4 X 3D cameras D435 or D415
  • Optional T265 for localization in large areas
  • 2D Lidar
  • Bumper sensor
  • Battery monitoring
  • Charging base unit

Pengo Educational Robot

WhatsApp Image 2016-11-02 at 11.07.40.jpeg

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 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 your ip here)
5         netmask,
6         gateway gateway ip here,usually the address of the router)
7         dns-nameservers

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:


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.

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