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This application note describes a process of initial iRobot Create3 hardware/software setup which is specific to Navqplus board programmed with the Navqplus BSP release image.This is a simplified setup routine which is opposed to the generic setup process described in https://edu.irobot.com/create3-setup and allow a more convenient way to bring up a robot.
The goal of the initial setup routine is to prepare a iRobot Create3 unit for successful inter-operation with the Navqplus as its compute board, specifically for Lidar-based SLAM navigation.
Phase 1. Navqplus software setup
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The steps in this phase are only required if you don’t get iRobot Create 3 packaged with pre-mounted Navqplus.
Step 1. Set the Adapter Board to USB mode
Set the USB/BLE toggle as shown on the following picture (the red arrow).
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Step 2. Mount Navqplus into the iRobot Create3
There is no specific mandatory way how to mount the Navqplus in the iRobot Create cargo bay. One of the ways it can be done is pictured below.
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Consider looking into https://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ for more information on the topic.
Step 3. Connect Navqplus via USB cable
The mandatory requirement is only to connect the iRobot Create3 adapter board to the second USB-C port on the Navqplus (one which is closer to the center).
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Consider looking into https://iroboteducation.github.io/create3_docs/hw/navqplus_hookup/ for more information on the topic.
Step 2. Set the Adapter mode to USB
Connect USB to the adapter board.
Step 3. iRobot Create3 software setup
Configure WIFI
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Step 4. Mount RPLIDAR A1
Mount the RPLIDAR A1 on top of the Create3 cover as much to the center as possible.
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Step 5. Connect RPLIDAR A1 to Navqplus
RPLIDAR A1 comes with an adapter board with micro-USB connector. Use either direct USB Type-C to Micro-USB cable, or use a USB hub to connect the device to Navqplus as depicted on the picture below. We suggest using USB 3.0 hub in order to be able to additionally connect PMD Flexx2 camera to the setup.
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Phase 3. iRobot Create3 software setup
Put the assambled Create3 unit on the charger and wait until the boot is complete. The unit issues a sound when the booting is complete.
Step 1. Configure WIFI
Open Terminal application and type in commands:
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$ ssh user@<navqplus-ip> -L 8010:192.168.186.2:80 |
Log in to the Navqplus console using “user” / “user” username and password.
Leave the terminal window opened and open a web browser and type in the address 127.0.0.1:8010 in the address line.
Select the Connect menu as shown on the picture below.
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In the connect page select or type in the WLAN SSID and password, and the press connect button as shown below.
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Upon successful connection you would see the following message.
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Press the Connect menu button again. On the page you would see the IP address of the robot.
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Close the terminal window and type in the Robot’s IP address in the browser address line.
If all is good, then you would end up with the same invitation page as at the address 127.0.0.1:8010
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Step 2. Update Create 3 firmware
Unless your robot is already installed with the latest firmware, you should update it.
Download the firmware image from https://edu.irobot.com/create3/firmware/H.1.1
On the robot’s web page click Update menu button.
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On the Update page click the “Click here” link to update from the file.
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Click the “Choose file” button and select the saved downloaded image, and then push the Upload File and Update button.
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It takes about 6-7 minutes to update the Create3 firmware. The firmware update would accomplish with the same sound as at the end of booting.
Step 3. Configure Create 3 applicateion