Off-board

In this profile, the controller runs on a workstation attached to the same (usually wireless) network. This allows the use of more computationally-demanding controllers than the on-board computer can handle. Other than that the controller runs on a different computer (rather than the built-in Raspberry Pi) this profile is used in the same way as "on-board".

Getting Started

To get started with this profile, you need first to connect your robot to a network. Use MiRoapp to note down the network address ("IP address") at which MiRo has connected.

Now, on a workstation on the same network, install ROS, then install the MDK (the MDK version you install must match the version of the MDK on your robot, which you can view using MiRoapp).

You can now control MiRo as follows[1].

$ export ROS_MASTER_URI=http://192.168.x.x:11311 $ cd ~/mdk/bin/shared $ ./client_test.py yaw ...

The line with ROS_MASTER_URI tells the ROS system where to find the ROS master that is running on your robot; you should replace the token 192.168.x.x with the network address of your robot recovered from MiRoapp.

As above, you will see the robot swing its head from side to side, and you can use the client as a starting point for your own development.

[1] This assumes you have not changed the default ROS network configuration for your robot.