IRobot ATRV-Jr

This page describes features and configuration of the iRobot platform

Configuration

Adjustments relative to SMR Mobotware image.

LMS100 laserscanner is on address 192.168.0.1 and uses port 2111 (default)

This means that ip adress for eth0 should be 192.168.0.2 mask 255.255.255.0 in file /etc/network/interfaces:

...
# Wired network interface
auto eth0
iface eth0 inet static
address 192.168.0.2
netmask 255.255.255.0

The IP address of the laser scanner should be in /etc/hosts with nick name 'lms100' (assuming only one lms100 and the default adress and port):

127.0.0.1       localhost
192.168.0.1     lms100
...

Configuration of RHD for irobot

Update the local configuration by logging in as root

sudo su -
cd
switchtool
./update_smr

The configuration of RHD should now be in /usr/local/smr.local/irobot and the link in /usr/local/etc/mobotware/rhdconfig.xml should point at /usr/local/smr.local/irobot/rhdconfig.xml

cd /usr/local/etc/mobotware/
ln -sf ../../smr.local/irobot/rhdconfig.xml .