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Using the real Limo Robot (For Advanced Research)

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Josh Cooper edited this page Sep 16, 2024 · 1 revision

The goal of this document is to make you aware of the additional configuration and functionality your LIMO robot can have outside of a teaching setting. You should first read the using the real limo robot teaching guide first as this will give you a basic understanding on how it functions.

If you want to reformat the SD card, please consult with the technician that has deployed this to yourself, if they are happy for you to continue. There are some Expert notes for setting up the Limo installation which will not be relevant to the "normal" operator mode. Read ahead to focus on the main essentials:

Running your own container

You may find it useful to run your own container on the Limo robot. However, if you are doing this you should make sure that you stop the container that is used for teaching first.

On the desktop, the container will indicate the state of the container.

  • If the container is shutdown you do not need to do anything further.
  • If the container is running you will need to stop the container. You should see on the desktop a red icon that says 'Zenoh Docker Off' press this, and wait a few seconds. It will then update to say it is shutdown.
  • If the container is in a error state, check the container's logs.

If you have modified the configuration of the Limo and you do not have the icons on the desktop, you will need to run docker ps and docker compose down to check it is not running before continuing.

IP address

The robot is connected wirelessly to the Robot wifi network (if it is not, please ask a member of staff for details).

To establish a connection with your LIMO, we need to find out its IP address. Open the terminal and type ip a using the robot's touchscreen keyboard. To enable the robot's touchscreen keyboard, first check if there is a small four-square icon on the desktop's top bar and if yes, select Show Onboard.

Note the inet address associated with the wlan0 device. Write this IP address down. You will need to repeat that procedure at the start of each session. It should be something like 10.82.0.XXX, where XXX is a number between 2 and 254. The IP address should stay always the same as long as you are using the same robot.

VNC connection

  • Install a VNC viewer, e.g. from here: https://www.realvnc.com/en/connect/download/viewer/ and install it
  • Connect to your robot, e.g. to IP 10.82.0.XXX (you have taken note of the IP address before) to have a more comfortable way to see the screen This is entirely optional and not required.

SSH connection

  • you can connect to the robot's terminal using ssh [email protected]. The password is agx.
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