Robotnik Summit_XL
General :
Here at the CRISTAL Laboratory we have 3 summit-xl (ak Robotnik), we use the serial number as identifier:
SXL00-181120AA (called AA) SXL00-181120AA (called AB) SHL00-181120AC (called AC)
Those robot are made by a society called Robotnik : https://robotnik.eu/products/mobile-robots/summit-xl-en-2/
Spec Hard:
Dimensions: 720 x 614 x 416 mm
Weight: 65 Kg (SHL) 45Kg (SXL)
Payload: 50 Kg (SHL) 20Kg(SXL)
Speed: 3 m/s
Environment: Indoor / Outdoor
Enclosure class: IP53
Autonomy: Up to 5 h
Battery: LiFePO4 15Ah@48V (for SHL model) and LiFePO4 15Ah@24V
Traction system: Skid steering / omni directional (mecanum)
Traction motors: 4 x 500 W brushless servomotors (SHL) 4 x 250 W brushless servomotors (SXL)
Temperature range: 0º to +50 ºC
Maximum slope: 80%Spec Soft:
OS : Ubuntu 16.04 ;(
ROS : kineticIP :
| Name | IP |
|---|---|
| AA | 192.168.0.200 |
| AB | 192.168.0.246 |
| AC | 192.168.0.232 |
Equipements :
| Type | Image | Name | Spec | other |
|---|---|---|---|---|
| IMU | PixHawk px2.4.8 | L3GD20 3 axes numériques 16 bits gyroscope, LSM303D 3-axe 14 bits accélération/magnétomètre ,MPU6000 6 axes accéléromètre/magnétomètre, MS5611 baromètre haute précision | Factory included, USB plug | |
| CAN | PCAN-USB | Factory included, USB plug | ||
| PTZ Camera | HIKVISION (DS-2DE3204W-DE(B) ) | PoE, PTZ, RTSP, h,265+, 2 MP CMOS, ip66 | Add, RJ45 plug (192.168.0;xxx see directly on the camera) | |
| Stereo Camera | intel realsense d435 | Add , run : ~/01realsense,sh, (warning with rosbag), USB plug (only 3.1) | ||
| GPS | Ublox 7 EVK-7 | Factory included, USB plug | ||
| GPS | GPS ADA746 | PPS | Add, DB9 plug, (use for chrony synchro) | |
| LIDAR 2D | Hokuyo UST-20LX | 905nm, 0.06m to 20m , Max. detection distance : 60m, ±40mm*1, 270°, angular res : 0.25° (1080 points), 2W | Factory included, RJ45 (192.168.0.10) | |
| LIDAR 3D | Hesai Pandar XT-16 | 905nm, 0.05 à 120m, ±2cm, 360° (30° (-15° à +15°)), résolution horizontale : 0,09°(5Hz), 0,18°(10Hz),, 0,36°(20Hz), résolution verticale : 2°, 9W | Add , ~/01pandarxt.sh, (192.168.) | |
| LIDAR 3D | velodyne vlp-16 | 903nm, 100m, ±3cm, angular res vert : 2°, angular res horz : 0.1-0.4°, 360° (30° (-15° à +15°)), 8W | Add, run : ~/01velodyne.sh, (192.168.) |
Use :
Log-in :
user : summit password : R0b0tn1K
SSH :
ssh summit@192.168.0.xxxFiles trasnferts :
sftp://192.168.0.xxx/Control :
Via ROS :
You can control the robotnik with two ways :
- with a Twist message publish in the topic :
exemple :
rostopic pub /summit_xl/move_base/cmd_vel geometry_msgs/Twist "linear:
x: linear speed (-3.0 to 3.0)
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: angular speed (-1.0 to 1.0)"- with a joy message publish in the topic :
exemple :
rostopic pub /summit_xl/joy sensor_msgs/Joy "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
axes:
- 0
buttons:
- 0"Via controller :
You can also use the ps4 controller to command the robot (each ps4 controller have a sticker with the robotnik serial correspond to the linked robotnik)
Power :
Warning every robot have its own charger, so AC must be charged with 48V charger and AA and AB must be charged with 29V charger
The 12V supplier at the rear of the robot can only supply 2A MAX
power rail
12V supplier (150W max) and 5V supplier (25W max)
At the picture you can see the DIN rail the following fuses: ●Fuse F1: 15A (blue) Back panel charge connector & switch S1. ●Fuse F2: 40A (orange) Main fuse, connected to battery directly. ●Fuse F3: 15A (blue) driver 1. ●Fuse F4: 15A (blue) driver 2. ●Fuse F5: 15A (blue) driver 3. ●Fuse F6: 15A (blue) driver 4. ●Fuse F7: 10A (red) 12V DC/DC converter INPUT. ●Fuse F8: 7.5A (brown) 12V DC/DC converter OUTPUT (+12V). ●Fuse F9: 2A (grey) Back panel 12V output (from DC/DC converter). ●Fuse F10: 5A (brown light) 5V DC/DC converter OUTPUT (+5V)
ros :
list of topics :
Only useful topic have info.
summit_xl :
/clock /diagnostics /rosout /rosout_agg /summit_xl/client_count /summit_xl/connected_clients /summit_xl/fix sensor_msgs/NavSatFix 1Hz (GPS Ublof 7) /summit_xl/front_laser/parameter_descriptions /summit_xl/front_laser/parameter_updates /summit_xl/front_laser/scan sensor_msgs/LaserScan 40Hz (Hokuyo 2d LIDAR) /summit_xl/front_ptz_camera/front_ptz_camera/ptz_command /summit_xl/imu/data sensor_msgs/Imu 50Hz /summit_xl/imu/rpy/filtered /summit_xl/initialpose /summit_xl/joint_states sensor_msgs/JointState 50Hz (pos of the wheels) /summit_xl/joy sensor_msgs/Joy /summit_xl/map_nav_manager/state /summit_xl/mavlink/from /summit_xl/mavros/altitude /summit_xl/mavros/imu/data sensor_msgs/Imu 50Hz /summit_xl/mavros/imu/data_raw /summit_xl/mavros/imu/mag /summit_xl/mavros/imu/static_pressure /summit_xl/mavros/imu/temperature_imu /summit_xl/mavros/target_actuator_control /summit_xl/mavros/vfr_hud /summit_xl/mavros/vision_pose/pose /summit_xl/mavros/vision_pose/pose_cov /summit_xl/mavros/vision_speed/speed_twist_cov /summit_xl/mavros/wind_estimation /summit_xl/move/cmd_vel /summit_xl/move_base/cancel /summit_xl/move_base/cmd_vel geometry_msgs/Twist /summit_xl/move_base/feedback /summit_xl/move_base/goal /summit_xl/move_base/result /summit_xl/move_base/status /summit_xl/pad_teleop/cmd_vel /summit_xl/poi_interactive_marker/feedback /summit_xl/poi_interactive_marker/tunneled/update /summit_xl/poi_interactive_marker/update /summit_xl/poi_interactive_marker/update_full /summit_xl/poi_manager/markers /summit_xl/robot_pose /summit_xl/robotnik_base_control/cmd_vel /summit_xl/robotnik_base_control/enabled std_msgs/Bool 50Hz (control enable) /summit_xl/robotnik_base_control/odom nav_msgs/Odometry 50Hz (pos of the robot) /summit_xl/robotnik_base_hw/battery std_msgs/Float32 50Hz (batt voltage) /summit_xl/robotnik_base_hw/battery_alarm /summit_xl/robotnik_base_hw/battery_data robotnik_msgs/BatteryStatus 1Hz /summit_xl/robotnik_base_hw/docking_status /summit_xl/robotnik_base_hw/emergency_stop /summit_xl/robotnik_base_hw/io /summit_xl/robotnik_base_hw/state /summit_xl/robotnik_base_hw/status /summit_xl/system_monitor/diagnostics /summit_xl/tf2_web_republisher/cancel /summit_xl/tf2_web_republisher/feedback /summit_xl/tf2_web_republisher/goal /summit_xl/tf2_web_republisher/result /summit_xl/tf2_web_republisher/status /summit_xl/time_reference /summit_xl/twist_marker /tf /tf_static
Camera realsense :
/camera/accel/imu_info /camera/accel/sample sensor_msgs/Imu 62Hz /camera/align_to_color/parameter_descriptions /camera/align_to_color/parameter_updates /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw sensor_msgs/Image /camera/aligned_depth_to_color/image_raw/compressed /camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressed/parameter_updates /camera/aligned_depth_to_color/image_raw/compressedDepth /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions /camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates /camera/aligned_depth_to_color/image_raw/theora /camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions /camera/aligned_depth_to_color/image_raw/theora/parameter_updates /camera/color/camera_info /camera/color/image_raw sensor_msgs/Image /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/depth/camera_info /camera/depth/image_rect_raw sensor_msgs/Image /camera/depth/image_rect_raw/compressed /camera/depth/image_rect_raw/compressed/parameter_descriptions /camera/depth/image_rect_raw/compressed/parameter_updates /camera/depth/image_rect_raw/compressedDepth /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions /camera/depth/image_rect_raw/compressedDepth/parameter_updates /camera/depth/image_rect_raw/theora /camera/depth/image_rect_raw/theora/parameter_descriptions /camera/depth/image_rect_raw/theora/parameter_updates /camera/extrinsics/depth_to_color /camera/gyro/imu_info /camera/gyro/sample sensor_msgs/Imu 200Hz /camera/motion_module/parameter_descriptions /camera/motion_module/parameter_updates /camera/pointcloud/parameter_descriptions /camera/pointcloud/parameter_updates /camera/realsense2_camera_manager/bond /camera/rgb_camera/auto_exposure_roi/parameter_descriptions /camera/rgb_camera/auto_exposure_roi/parameter_updates /camera/rgb_camera/parameter_descriptions /camera/rgb_camera/parameter_updates /camera/stereo_module/auto_exposure_roi/parameter_descriptions /camera/stereo_module/auto_exposure_roi/parameter_updates /camera/stereo_module/parameter_descriptions /camera/stereo_module/parameter_updates
Warning if you make a rosbag with the camera realsense you have to take only raw topic of the camera (compressed topic are not in the correct format and made the driver and the rosbag recorder bug)
Rate of the camera topic are set to 25Hz (but can be changed)
3D LIDAR :
/velodyne_nodelet_manager/bond /velodyne_nodelet_manager_cloud/parameter_descriptions /velodyne_nodelet_manager_cloud/parameter_updates /velodyne_nodelet_manager_driver/parameter_descriptions /velodyne_nodelet_manager_driver/parameter_updates /velodyne_nodelet_manager_laserscan/parameter_descriptions /velodyne_nodelet_manager_laserscan/parameter_updates
/hesai/pandar sensor_msgs/PointCloud2 10Hz (Hesai 3D LIDAR)
writen by Maxime Duquesne 16/03/2023