On-board

In this profile, the controller runs on the on-board Raspberry Pi computer, and exchanges signals with the robot directly.

The robot exposes its sensors and motors through its ROS interface. Even though the controller is running on the on-board computer, it still talks to the robot through this network interface, so a controller built for this profile is essentially the same as one built for the other profiles.

Getting Started

With this profile, everything happens on-board the robot, so you don't need to make any special preparations on your workstation. You will, however, need an SSH client.

To get started, login to MiRo over the SSH interface.

This profile uses the MDK installed on the robot—for other profiles, you will need to install an MDK on your workstation.

Examples

You can now control MiRo as follows—the robot will swing its head from side to side. Press CTRL+C to stop the controller.

$ cd ~/mdk/bin/shared $ ./client_test.py yaw ...

There are various example clients provided—see Examples for more details.