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| | [[File:robobot.JPG|400px]] | | [[File:robobot.JPG|400px]] |
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| − | ==Installation instruction on the raspberry==
| + | [[Getting started guide]] |
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| − | Install raspberry pi version of Linux on a micro-SD, instructions can be found here:
| + | [[Full installation instructions]] |
| | | | |
| − | [[Install on raspberry]] first section (prerequisites).
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| | | | |
| − | ===Raspicam===
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| − |
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| − | A rather short raspberry pi camera API is available from https://www.uco.es/investiga/grupos/ava/node/40.
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| − | And can be downloaded from https://sourceforge.net/projects/raspicam/files/?
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| − |
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| − | Unpack and install:
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| − | unzip raspicam-0.1.3.zip
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| − | cd raspicam-0.1.3
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| − | mkdir build
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| − | cd build
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| − | cmake ..
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| − | make
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| − | sudo make install
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| − |
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| − | ===Userland-master===
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| − |
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| − | To be able to install mobotware
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| − |
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| − | Follow the guide under REGBOT for userland-master install - [[Install on raspberry]]
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| − |
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| − | ===DNSMASQ===
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| − |
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| − | To enable the robobot to be connected directly to a PC, then it is easier if the robobot provides an IP for the PC.
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| − |
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| − | Install DNSMASQ
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| − |
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| − | sudo apt install dnsmasq
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| − |
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| − | allow dnsmasq to provide IP to pear-to-pear networks
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| − | Edit the /etc/dnsmasq.conf (nano is a small text editor, fine for editing configuration files owned by Linux root)
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| − |
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| − | sudo nano /etc/dnsmasq.conf
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| − |
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| − | find and change/add the following line (for eth0)
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| − |
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| − | dhcp-range=eth0,192.168.0.100,192.168.0.150,12h
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| − |
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| − | To work, the eth0 must have an IP, if noone provides one,
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| − | change /etc/dhcpcd.conf (dhcp client deamon) to have a default IP, if no DHCP server is available
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| − |
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| − | Add the following lines at the end of /etc/dhcpcd.conf to have a fall back behaviour for eth0 and eth1.
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| − |
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| − | # define static profile
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| − | profile static_eth0
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| − | static ip_address=192.168.0.2/24
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| − | static routers=192.168.0.1
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| − | static domain_name_servers=192.168.0.1
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| − |
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| − | # fallback to static profile on eth0
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| − | interface eth0
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| − | fallback static_eth0
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| − |
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| − | # define static profile
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| − | profile static_eth1
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| − | static ip_address=192.168.1.2/24
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| − | static routers=192.168.1.1
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| − | #static domain_name_servers=192.168.0.1
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| − |
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| − | # fallback to static profile on eth1
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| − | interface eth1
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| − | fallback static_eth1
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| − |
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| − | This will also give a default IP for an eventual second network (usb-to-cable) if needed
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| − |
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| − | Now, after a reboot, you should be able to connect a PC directly with at network cable to a PC, and the PC should get an IP from the raspberry, so now
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| − |
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| − | ssh local@192.168.0.2
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| − |
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| − | should work
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| − |
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| − | ===ROBOBOT demo C++===
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| − |
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| − | This is an examplesoftware in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.
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| − |
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| − | Get the robobot software from the svn repository:
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| − |
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| − | svn checkout svn://repos.gbar.dtu.dk/jcan/regbot/robobot robobot
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| − |
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| − | To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),
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| − | so add the following line to ~/.bashrc:
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| − |
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| − | export CMAKE_PREFIX_PATH=/usr/local/lib
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| − |
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| − | Then build Makefiles and compile:
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| − |
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| − | cd robobot
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| − | cd build
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| − | cmake ..
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| − | make
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| − |
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| − | Then testrun the application:
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| − |
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| − | ./robobot
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| − |
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| − | It should print that the camera is open, save an image and print some data from the robot (e.g. position).
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| − |
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| − | ===USB as SOCKET for REGBOT client===
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| − |
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| − | To use the REGBOT client through (not on) the raspberry pi, the serial connection /dev/ttyACM0 on the raspberry can be converted to a network port by SOCAT. So install:
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| − |
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| − | sudo apt install socat
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| − |
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| − | Add the following line to /etc/rc.local
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| − |
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| − | socat TCP-LISTEN:24001,fork,reuseaddr FILE:/dev/ttyACM0,raw,echo=0
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| − |
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| − | This creates a TCP socket server, listening to port 24001 and piping /dev/ttyACM0 to the socket (with no local echo). This only takes the data from the /dev/ttyACM0 when a client is connected to the socket.
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| − |
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| − | Works after a reboot, or the same line on the command prompt.
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| − |
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| − | This is good for configuring the REGBOT (in REGBOT client connect wifi to IP of robot, e.g. 192.168.0.2).
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| − |
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| − | ===Share files from windows===
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| − |
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| − | To share files on all windows computers (without need for administrator) configure a samba share
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| − | (or follow Simon on http://simonthepiman.com/how_to_setup_windows_file_server.php)
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| − |
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| − | First install samba
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| − |
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| − | sudo apt install samba samba-common-bin
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| − |
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| − | then edit /etc/samba/smb.conf
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| − |
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| − | sudo nano /etc/samba/smb.conf
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| − |
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| − | comment out all lines under the headlines:
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| − | [homes]
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| − | [printers]
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| − | [print$]
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| − | [cdrom]
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| − |
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| − | Add the following section at the end:
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| − |
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| − | [robobot]
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| − | comment = Raspberry Pi user LOCAL home directory
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| − | path = /home/local
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| − | writeable = Yes
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| − | only guest = Yes
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| − | create mask = 0777
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| − | directory mask = 0777
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| − | browseable = Yes
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| − | public = yes
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| − |
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| − |
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| − | Add "local" and "pi" as a samba user (and set password, for user pi it should be "raspberry"):
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| − |
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| − | sudo smbpasswd -a local
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| − | sudo smbpasswd -a pi
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| − |
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| − | Reboot to implement
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| − |
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| − | sudo reboot
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| − |
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| − | ====Windows map drive====
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| − |
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| − | On the windows computer, connect a network cable directly between the robobot and the computer, e.g. using a USB to Ethernet converter. Robobot should now be available with network address 192.168.0.2 (you could try a ping if in doubt).
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| − |
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| − | In the file browser:
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| − | * select "map network drive" (menu tools, or right-click on "my computer").
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| − | * select drive R: (for robobot) - or another if R is used already.
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| − | * in the folder field write: \\192.168.0.2\robobot, and select "Connect using different credentials", then OK.
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| − | * Type in username (local or pi) and the appropriate password (and OK).
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| − |
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| − | Now the code and other files can be accessed and manipulated from windows, e.g. using an IDE.
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| − |
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| − | * But the code still needs to be compiled on the raspberry (install and use putty for a ssh terminal access)
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| − |
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| − | ===Share files on Linux===
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| − |
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| − | On the Linux PC use sshfs for sharing rather than samba.
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| − | Make an empty directory for the mapped disk, and then mount
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| − |
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| − | mkdir robobotdisk
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| − | sshfs local@192.168.0.2: robobotdisk
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| − |
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| − | Unmount with
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| − |
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| − | fusermount -u robobotdisk
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| − |
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| − | Or use "sudo unmount robobotdisk"
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| | | | |
| | ==Getting started== | | ==Getting started== |
This page is for ROBOBOT, an extension of REGBOT with a raspberry pi and three wheels.
This section contains a quick-start guide for the user.
It includes how to get the robot connected to Eduroam WiFi for easy access, an explanation of software and software structure and present a few examples to get the robots driving.
