EAI LEO User manual

EAI LEO ROS Educational Robot
Product Manual
Shenzhen EAI Technology Co., Ltd
www.eaibot.com
Version No: V1.0

1.Resource list...................................................01
2.Operation method................................................01
3.Main Structure .................................................02
4.Technical Specification.........................................03
5.Quick start 1 - Mapping and navigation..........................04
6.Quick start 2 - RosStudio.......................................06
7.Quick start 3 - Pick & Place....................................07
8.After-sales terms...............................................09
To the maximum extent permitted by law, the products described in this
manual are provided “as is”. If the products are not used or stored in
accordance with this manual, there may be defects, errors or malfunctions
on them. EAI Technology does not provide any form of direct or implied
warranties, including but not limited to the warranties of
merchantability, quality satisfaction, fitness for a particular purpose,
non-infringement of third-party rights, etc., nor does it compensate for
any special, incidental, accidental or indirect damages resulting from
the use of this manual or the use of our products.
ØChildren must be accompanyied by others when they are using the device, and
the device should be turned off in time when the operation is completed.
ØPlease prevent the robot from getting wet by water or other liquid, and
prevent the internal electronic short circuit.
ØDuring the operation of the robot, please do not put your hands into the
wheel set and be careful of injuries.
ØDuring the operation of the robot, please be careful not to let it bump into
anything else.
Disclaimer
Important safety notes
Symbol notation
Glossary or
reference
Description
Important notes
Note
Important warnings
Warnings
Content

1.Resource list
ØRosStudio: ROS robot integrated development environment (IDE) uses visualized
windows to operate ROS LEO, to realize ROS architecture analysis, source code
editing, parameters configuration, compiling & debugging, one-click deployment,
etc.
ØRosCore: Android APP. Including mapping, navigation, map editing, task
editing and other functions.
Software
RosStudio Operation Manual
RosStudio Installation Guide
RosCore APP User Manual
LEO Driver Node Instruction (STM32 Drive Protocol).
Documents
Android SDK development source code package.
RosCore Android SDK User Instruction
Application development materials
Log onto
www.eaibot.cn
Support and
download center
Download
center
Leo
2.Operation method
Android Mobile APP
Reference: RosCore APP User Manual
RosStudio
Reference: RosStudio Operation Manual, RosStudio Installation Guide
Algorithm development and parameter optimization are supported.
1

Indicator description
wheel set light
All lights are blinking
The machine is in the
standby status
Keeping stream blinking
The machine is in the motion
status
Stream blinking
The machine is in the normal
charging status
Only one light is blinking
The machine is in the
charging error status
Battery status
light
Describe how much power is
left
3.Main Structure
2
Battery status
light
Ultrasonic
robot arm
Air pump
Front USB port Lidar
USB camera
Wheel set
light
1
2
3
4
5
6
7
8
RGB-D camera
9
Port panel
Motor
10
Omnidirectional wheel
11
12
Power

4.1 Dimension Parameters
4.2 Technical Data
Overall structure
Drive methods
Differential control
Drive wheel
4 inch rubber wheel
Main structural
materials
Sheet metal, ABS
Dead weight
About 10kg
Processor performance
Processor
INTEL I5
RAM
DDR3 4G
ROM
128G SSD(Solid state disk)
Sensor parameters
Lidar
EAI G1 high-precision lidar
Motor
Brushless DC motor
Obstacle
avoidance sensor
Ultrasonic module*2
IMU module
MEMS gyroscope, 3-axis
accelerometer
RGB camera
*1 installed in
front(Optional),
*1 mounted by hanging via
robot arm (Optional)
Depth RGB-D
camera
*1(Optional)
robot arm
DOBOT Magician robot arm
(Optional)
Battery and battery life
Battery type
Power lithium battery
Battery capacity
11.2Ah/24V
Charging time
About 4.5 hours
Charging voltage
29.4V
Battery life
About 8 hours
4.Technical Specification
Motion capability
Climbing capability
12°
Vertical obstacle
crossing ability
18mm
Motion speed
1m/s
Control method
APP control
Support
RosStudio IDE
control
Support
Remote login SSH
control
Support
Remote controller
control
Support
Working environment
Charging temperature
0~45ºC
Discharging
temperature
-10~60ºC
Working moisture
30%~70%
Port
Power port
12V
Hardware port
LAN*1, WAN*1, VGA*1
USB3.0*2、USB2.0*1
Openness
All algorithms are
open source
Support
Android secondary
development DEMO
Support
3

5.Quick Start 1 - Mapping and navigation
Step 1: Start LEO
Press LEO power switch. After the blue lights
on both sides are illuminated, wait for 1~2
minutes until the lidar keeps spinning, LEO
is ready.
Step 2: Connect LEO
After a mobile/tablet is connected to
LEO’s WIFI(Some Android 9.0+
mobiles/tablets asks if using the network
or not when connect to the WIFI, please
select yes), please run RosCore App. After
logging in, if the power on the main
interface is displayed normally, then the
connection is successful.
Step 3: Slam mapping
On the main interface of RosCore click
"Mapping" and use the remote control at
the lower left corner to control LEO to
walk around the area. After the map
image is basically displayed, click
"Save Map" in the menu button in the
lower right corner and wait a few
seconds before the map is saved.
Step 4: Create a task
On the main interface of RosCore, click the map list on the upper right corner and
select a previously created map to calibrate the location, you could then add some
target points, and create a corresponding navigation task.
Step 5: Slam navigation
Click "Query Task" on the main interface
of RosCore, and then click "Executing
Task" of the corresponding task. The
navigation task will start to execute in
a loop.
4

6.Quick start 2 - RosStudio
Step 1: Run RosStudio
After RosStudio software is installed,
run the command: ./RosStudio.sh in the
home directory ( ~/RosStudio) of the
program. This software is successfully
installed if the main interface can be
entered after startup, as shown below:
Step 2: Configure to connect to LEO robot
Firstly make sure ROS robot is turned on. Then connect PC’s WIFI to this ROS robot. Click
RosWinodws main interface’s icon to enter the robot’s connection configuration interface.
The robot’s connection configuration interface is shown below. Then, click "Add" after
entering the robot configuration information.In the end, click “Source code download” to
download the source code from the LEO robot to this computer.
Step 3: Compiling and deployment
After source code is downloaded, the project of the source code is displayed on the
left, while the source code editing area is on the upper right, and the information
output area on the lower right, as shown below.
Click the “Build” function in the build menu to start compiling the project.
(Compiling parameter switch: Debug / Release is optional. The executable programs
generated by the “Debug” mode contains the gdb debugging information. There is none
in the Release mode.Local / Remote is optional. “Local” refers to the host and “Remote”
refers to the current selected robot.)
The executable program package compiled on the host can be deployed to the target
robot by clicking the “Deploy Program Package to Robot” function in the build menu.
Note 1: Remarks is exclusive.
Note 2: LEO robot’s default name is EAI_LEO.
Note 3: When adding LEOrobot’s configuration information,
it needs to input the local root account password.
5

Step 4: Debug program
After compiling successfully,
open the program to be
debugged and set a breakpoint
at the program entry. Click
the “Start debugging” function
in the Debug menu to enter
into the debug mode.
Step 5: ROS console and plugin
The main functions of the ROS console are: controlling ROS robot’s movement,
mapping, navigating, executing tasks (navigating to the target point), and drive
control.
The console is used to control the robot to load the map, to view the laser data,
and to view the robot internal algorithm’s running process in real time.
The various situations of the target robot can be viewed by combining plugins
under the tools menu.
Note: RosStudio uses GDB for
debugging. If debugging is
required, you must choose the
Debug mode to compile the
source code.
6

7.Quick start 3 - Pick & Place
Step 1: Run RosStudio
After RosStudio software is installed, run the
command: ./RosStudio.sh in the home directory ( ~/RosStudio) of
the program( or search RosStudio from guiding bar on the left ）
as shown below:
Step 2: Configure to connect LEO robot
First, make sure ROS robot is turned on. Then connect PC’s WIFI to this ROS robot.Choose
the LEO Robot to be connected as shown in below. Then, click “EAI” icon on the right
side to get onto the ROS control console.
Step 3: Calibrate robot arm
Make sure robot arm is turned on, from “Settings” menu choose “robot arm operation”and
then calibrate robot arm to “Zero”. After calibration,click"Go Home" to set robot arm
back to the default position.
7
Note: If the robot arm works
not so smoothly during
operation, we need to
calibrate to "Zero" again.

Step 4: Select a map
After selecting a map, use the "Set initial position" function in "Settings" to set the
position of the LEO robot on the map. After calibration, add resource points for pick&place.
Click the "Settings" icon on the lower right corner, and then select "Add Resource" to enter
into the resource adding interface.
Resource points are divided into:
0, Ordinary navigation target points;
1, Charging points. Need to be added for automatic charging;
2. Releasing points.Used by a robot with a robot arm.. When LEO robot is at this position,
it grabs object from pallet and release it to external platform;
3. Picking points.Used by a robot with a robot arm. When the robot is in this position, it
grabs the object from the external platform onto the pallet.
Use the direction control button to control the ROS robot to move to a certain position.
Then, set this resource point type as the releasing point or picking point. After that, get
the current position of the LEO robot on the map (SLAM).
• If you use our standard item pick&place platform, you can click the "Use Default Values"
function button to set the home point, observation point, platform height and temporary
storage point to get the default parameters.
• If on the other hand, you need to manually measure the home point, observation point,
platform height and temporary storage point values (manual measurement method: press the
button on the robot arm, rotate and adjust the position of the robot arm. Then, click on the
ROS console to get the number of relevant points).
Step 5: Creat Pick&Place Task
Click "Task Management", click "New Task" on
the task management interface, and enter the
task name to create an action list for the new
task. "Wait" means waiting still; "GotoTarget"
means navigating to the target point (it can be
any type of resource point); "Moving" means
moving in a straight line. Organize the task
sequence: A1X (pick) -> B1 (release) -> B1X
(pick) -> A1 (release). Select the parameter
"loop" to realize the pick&place back and forth
between the two pallet. Click "Save Task" to
save the task. After that, you could select
this task and perform it.
8
Click "Add Resource Points" to save the
target point according to the selected
resource type. Create 4 resource points
here: A1 and A1X are the same location, A1
is the releasing point, A1X is the picking
point; B1 and B1X are in the same location,
B1 is the releasing point, and B1X is the
picking point;
Note: For more information,
please refer to RosStudio
Operation Manual