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Starting Up Mini Maxwell

Description: This tutorial guides you step by step through starting the Mini Maxwell robot

Tutorial Level: BEGINNER

Next Tutorial: Using the Buttons


Powering on Mini Maxwell

  • Power on the laptop
  • Plug in the Create
  • Plug in the ArbotiX
  • Push the power button on the Create, you should hear a single beep.

Start a roscore

Open a terminal window, and start roscore within it:


Launch Mini Maxwell

CTRL-SHIFT-T will get you another tab within the terminal program, in which you can run:

roslaunch mini_max_defs bringup.launch

Stopping the Robot

When you are done, you can type CTRL-C into each of your terminal windows. The roscore should be the last one shut down. After the launch file has finished, it is safe to unplug the USB adapters.

Under the Hood

If you open the bringup.launch file in a text editor, you'll notice that is an XML file specifying a number of programs (nodes) to start. The key ones are:

  • turtlebot_node - The turtlebot is a robot built atop of the iRobot Create. Mini Maxwell is very similar to a TurtleBot, and even uses the base drivers. This node controls driving the robot around.

  • arbotix - Unlike the TurtleBot, Mini Maxwell has an actuated head and a 5-DOF arm. The servos that make up these devices are controlled by an arbotix.

  • kinect - The Kinect is a camera and depth sensor. We'll discuss this more in later tutorials.
  • diagnostics, etc - We also launch a laptop_battery monitor and tools to handle diagnostics reporting.

Wiki: mini_max/Tutorials/Starting up Mini Max (last edited 2011-09-08 07:51:15 by MichaelFerguson)