Note: Instructions for updating the firmware for WGE100 cameras on the PR2..
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Upgrading WGE100 Firmware on the PR2

Description: Updating and verifying the firmware for all WGE100 cameras on the PR2.

Tutorial Level: ADVANCED

Before Starting FW Update

The WGE100 Cameras on the PR2 can be programmed with firmware using the upload_mcs command. Read that page for more information about the upload_mcs command.

Updating FW

Updating the camera firmware on the PR2 requires five steps:

  • Make sure you have a recent version of the camera_drivers stack.

  • Stop all ROS programs on the PR2.
  • Upload the firmware
  • Run pr2-systemcheck

Versions of camera_drivers above 1.3.1 or above 1.2.7 (cturtle) should have WGE100 firmware with improved robustness and error checking. Check your version of camera_drivers with:

$ rosversion camera_drivers

Before the release of camera_drivers to cturtle and/or unstable, you will have to download "trunk" of the camera_drivers stack for this upgrade.

Stop ROS Programs

{X} If you don't stop all ROS programs before updating the camera firmware, your robot may not function properly.

Run:

sudo robot stop

to stop all software on the robot. This will shut down the wge100_camera nodes.

Check Firmware Version

The desired firmware version is:

HDL rev: 600 FW rev: 8C41

To check the firmware version in your camera_drivers stack, run:

$ cat `rospack find wge100_camera`/firmware_images/version.txt

Update Firmware

A single script will update the camera firmware on your PR2:

$ roscd wge100_camera/firmware_images
$ sudo bash
# ./update_robot.sh

{X} Do not abort during the firmware update.

Run pr2-systemcheck

Check that the firmware has been updated, and that all cameras are present:

sudo pr2-systemcheck

Starting Software

After you restart your robot, the cameras should function as normal.

Wiki: pr2_robot/Tutorials/UpgradingWGE100Firmware (last edited 2011-03-24 23:34:15 by KevinWatts)