Install and configure Husky software _ Robot

Installing and configuring the Husky software

Description: Reset the husky robot PC with the installation package
Keywords: clearpath Husky
Tutorial Level: Intermediate
Next tutorial: Customizing the Husky configuration 1. Installing Husky Software

ClearPath provides an installation image of an easily customizable Ubuntu trusty Server 14.04 that automatically provides all the necessary dependencies for Husky software.
1. Download the appropriate indigo Husky ISO image (32-bit-i386,64 bit-amd64) for your platform.
2. Use UNetbootin to copy images to a USB drive.
$ sudo unetbootin isofile= "Indigo-husky-amd64-latest.iso"
3. Connect a wired network, keyboard, and monitor to a robotic PC. Make sure your PC is connected to a reliable power supply or a husky battery.
The next step will format your hard disk drive on your robot, so make sure that your mirrored backup is on another system.
4. Start your robot computer from a USB drive, and let the installation work automatically.
5. It may take a long time to automatically install the whole process, depending on the speed of your Internet connection.
6. After the installation process is complete, the PC closes. Please unplug the USB drive and turn the computer back on.
7. When first started, the user name is administrator and the password is ClearPath.
8. Follow the configuration instructions on your screen. If the computer restarts, wait for the PC to boot to the login screen, and then re-enter the logon credentials.
9. After the computer configuration is complete, you can use the utility password to change the administrator's password.
10. Set Husky robot Factory settings, make sure all peripherals are plugged in and run the following command:
$ rosrun Husky_bringup Install
Setup script will configure a Husky core boot service, This will start the basic Husky boot file. The script also detects any standard peripherals (IMU,GPS, etc.) that you have installed and adds them to the service. 2. Test infrastructure configuration to test your configuration, start the background service using the following command:
$ sudo service husky-core start the Comm light on your husky should change from red to green. You can check the log to check that the service is starting correctly:
$ sudo tail/var/log/upstart/husky-core.log-n 30 your husky should now accept your joystick command. The service will start automatically each time you start the Husky computer. 3. Calibration magnetometer

During calibration, the husky rotates autonomously. Make sure all external cables have been unplugged and husky to move in a 1-metre radius without hindrance.
If your husky has UM6 IMU installed, you must calibrate the magnetometer before you use it for gesture estimation.
1. Confirm that the Husky-core service is running.
2. Remote execution of the Husky computer's calibration script via ssh:
rosrun husky_bringup calibrate_compass
3. Follow the instructions on the screen.