R1mini Basics [Melodic]
Running R1mini
In markdown, the line [MyPC] indicates that the command should be run on MyPC. [R1m] indicates that the command should be on the R1mini.
Turning R1mini On/Off
On the back of the R1mini there are two buttons. The left button turns the robot on and off.
Charging R1mini
As shown in the image above, the R1mini should be charged using the round port behind the left wheel.
Please unplug the charger once the robot is fully charged. Leaving the robot plug may lead to overheating and create a fire hazard.
For the R1mini Pro (R1mini with Jetson Nano), both the robot and Jetson Nano board have the same jack. Plugging the 12V charger into the 5V Jetson Nano can damage the board. Please be careful!
The R1mini can be charged with any same-shaped 12V charger. The robot can be run while charging.
To check the battery state, press the right button among the two buttons at the back of the R1mini, as shown in the image above.
Battery states are indicated by the color of four successive flashes.
75% ~ 100% --- 4 green blinks
50% ~ 75% --- 3 green blinks
30% ~ 50% --- 2 green blinks
10% ~ 30% --- 1 orange blink
< 10% --- 1 red blink
Video Demonstration >>>
Setting UDEV
Since ROS is compatible with a diverse range of USB devices, we often set UDEV to reduce the likelihood of confusion between USB devices.
The R1mini provides a built in sh file inside omo_r1mini_bringup/scripts called create_udev_rules.sh as shown below.
To run this file, enter the below command into the terminal shell.
Next, run the two below commands in the terminal shell. You will be promopted for the robot password.
Next, reboot the robot by entering the below command into the terminal shell.
After rebooting, you should see the creation of the tttyLiDAR port.
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