CLEARPATH BOXER User manual

INTRODUCTION.............................................................................................................................................1
1.1 What’s Included............................................................................................................................1
1.2 Hardware Overview ......................................................................................................................2
1.3 Software Overview........................................................................................................................2
2 SAFETY...................................................................................................................................................3
2.1 General Warnings .........................................................................................................................3
3 SYSTEM SPECIFICATIONS ......................................................................................................................4
4 SETUP AND ASSEMBLY..........................................................................................................................5
4.1 System Assembly and Unboxing...................................................................................................5
4.2 Powering On The System..............................................................................................................5
4.3 Base Unit Configuration................................................................................................................6
4.4 Backpack Computer Configuration...............................................................................................9
4.4.1 Connecting to the Backpack Computer ....................................................................................9
4.4.2 Connecting the Backpack Computer to a Wireless Network....................................................9
5 Operation............................................................................................................................................11
5.1 Getting Started with the OTTO User Interface ...........................................................................11
5.1.1 Driving Manually .....................................................................................................................11
5.1.2 Mapping ..................................................................................................................................12
5.2 Joystick Control...........................................................................................................................13
5.3 Operation using ROS...................................................................................................................13
6 PAYLOAD INTEGRATION GUIDE ..........................................................................................................15
6.1 Mechanical Mounting.................................................................................................................15
6.2 Electrical Integration...................................................................................................................16
6.3 Software Integration...................................................................................................................17
7 MAINTENANCE....................................................................................................................................18
7.1 Battery Care ................................................................................................................................18
7.2 Battery Charging .........................................................................................................................18
8 SUPPORT .............................................................................................................................................19

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Figure 1 Boxer HMI

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Figure 2 Boxer Overview - front (with optional computer)
Figure 3 Boxer Overview - rear (with optional computer)
/cmd_vel
geometry_msgs/Twist
/odom
nav_msgs/Odometry
/imu/module0/data
sensor_msgs/IMU
/front/scan
sensor_msgs/LaserScan
/rear/scan
sensor_msgs/LaserScan
/realsense/depth/image_rect_raw
sensor_msgs/Image

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Table 1 Key ROS Topics for the Boxer Platform

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Table 2 System Specifications

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Figure 4 Boxer Robot Ready to be Unloaded

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Figure 5 Circuit Breakers
Figure 6 Power Button
Figure 7 Rear Ethernet Port

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Figure 8 Wifi Setup
Figure 9 IP Address Setup

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Figure 10 OTTO App, Facility View
Figure 11 Vehicle Settings, Including Volume Control

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ping 192.168.131.1
ssh [email protected]
ip a
ping <wireless_ip_address>
ssh administrator@<wireless_ip_address>
sudo touch /etc/netplan/60-wifi.yaml

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network:
wifis:
# change wlp2s0 to exactly match your wireless interface
# common values are wlp2s0, wlp3s0, wlan0, etc...
# if you aren't sure, use the `iwconfig` or `ip a` command
wlp2s0:
optional: true
access-points:
# replace "my-ssid" with the SSID of your wireless network
my-ssid:
# put your wireless password here
password: wifi_password_goes_here
# DHCP4 should be enabled for most wireless routers
# alternatively you can use a static IP address.
# e.g, uncomment the following
#addresses: [192.168.1.100/24]
#gateway: 192.168.1.1
#dhcp4: false
dhcp4: true
dhcp4-overrides:
send-hostname: true
sudo netplan apply
ip a

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Figure 12 E-STOP at Rear of Boxer
Figure 13 Reset Button at Rear of Boxer

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Figure 14 Taking the Robot out of Neutral
Figure 15 Manually Driving the Boxer using the OTTO Interface
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Figure 16 PS4 Controller Layout
ssh [email protected]

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ip a
ssh administrator@<computer ip>
rostopic list
rostopic echo /realsense/depth/image_rect_raw
rostopic echo /imu/module0/data
rostopic echo /front/scan
rostopic echo /rear/scan
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 0.1
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
roslaunch boxer_viz view_robot.launch
sudo systemctl restart ros
sudo systemctl restart ros-bridge

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Figure 17 Location of premade 4.2mm holes on the Boxer Plate

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The plate also has 8 premade Ø8mm holes in the corners which are countersunk from the underside of
the plate making them ideal for flathead screws installed to protrude from the plate. These holes and
their locations are shown in Figure 18 below.
Figure 18 Location of premade 8mm countersunk holes on the underside of the Boxer Plate

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http://wiki.ros.org/Sensors

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