---
description: Running R1mini
---

# R1mini Basics \[Melodic]

{% hint style="info" %}
In markdown, the line **\[MyPC]** indicates that the command should be run on MyP&#x43;**. \[R1m]** indicates that the command should be on the R1mini.
{% endhint %}

## Turning R1mini On/Off

![Image courtesy of Omorobot.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Md8KLa4S1Pm-DaKX-Qv%2F-Md8Ld2lcuL7K-ABX0gN%2Fright_button.png?alt=media\&token=1fa1a72c-0ba7-4068-a7f2-1466d78129e7)

On the back of the R1mini there are two buttons. The left button turns the robot on and off.&#x20;

## Charging R1mini

![Image courtesy of Omorobot.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Md8EJoji7w5ZvAFT7P6%2F-Md8JrC0CpBmqVN1-DnG%2Fcharging.png?alt=media\&token=3fc4e2a0-7a15-4c3f-8885-e05cedfcc3fb)

As shown in the image above, the R1mini should be charged using the round port behind the left wheel.

{% hint style="warning" %}
Please unplug the charger once the robot is fully charged. Leaving the robot plug may lead to overheating and create a fire hazard.
{% endhint %}

{% hint style="danger" %}
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!
{% endhint %}

![Image courtesy of Omorobot.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Md8EJoji7w5ZvAFT7P6%2F-Md8KA3FMc7j1tn-n8Hr%2Factual_charging.png?alt=media\&token=e8b0d139-8e39-4614-9532-d99863c2ec1a)

The R1mini can be charged with any same-shaped 12V charger. The robot can be run while charging.

![Press the right button to see the battery state. Image courtesy of Omorobot.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Md8KLa4S1Pm-DaKX-Qv%2F-Md8Ld2lcuL7K-ABX0gN%2Fright_button.png?alt=media\&token=1fa1a72c-0ba7-4068-a7f2-1466d78129e7)

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 by color of blink. Image courtesy of Omorobot.](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Md8LmmNUFDRmmJPg6Jr%2F-Md8Myfrm3zAH9YZDAHJ%2Fbattery_state.png?alt=media\&token=5d133575-7cc1-45b3-9d9e-641931b509ba)

Battery states are indicated by the color of four successive flashes.&#x20;

* 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 >>>&#x20;

## 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.&#x20;

The R1mini provides a built in sh file inside omo\_r1mini\_bringup/scripts called create\_udev\_rules.sh as shown below.&#x20;

![](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-MdWwnTr0lU4Dk4o72UN%2F-MdWxPGwt7Nf6ezAXC23%2Fudev.png?alt=media\&token=62a96863-f18c-49d0-9aba-603417c4938c)

To run this file, enter the below command into the terminal shell.

```
$ sudo ./create_udev_rules.sh
```

Next, run the two below commands in the terminal shell. You will be promopted for the robot password.

```
$ systemctl stop nvgetty
```

```
$ systemctl disable nvgetty
```

Next, reboot the robot by entering the below command into the terminal shell.

```
$ udevdam trigger
```

![](https://3827101858-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-McPC4jDSGGTd1f6bAav%2F-Me6qBfUzKa5VCv86Q9X%2F-Me6sa5fA3K6Wmgw7QG7%2Fimage.png?alt=media\&token=cd5e8734-c1e4-4912-87b4-e0ee48db2b98)

After rebooting, you should see the creation of the tttyLiDAR port.
