v1.1.0

Instructions for offline updating of movo1 and movo2

The below instructions show how to update movo1 and movo2 without connecting them to your organisational network/the internet (which requires removing the torso skin for accessing movo1).

The below instructions should be run on movo1, and movo2.

1. Run the below script on your the movo onboard PC you are updating to generate a list of missing packages. The list of packages required for v1.1.0 is taken from this post by @sparadiskinova.

#!/bin/bash
# Generates text for a series of wget commands to grab the missing packages for kinova-movo 1a71c29ef3dcc14162505113cbee7177ac88b0b5 (release v1.1.0)

declare -a required_pkgs=("ros-indigo-desktop-full" "python-rosinstall" "xdotool" "wmctrl" "iperf" "chrony" "htop" "bridge-utils" "ros-indigo-navigation" "ros-indigo-gmapping" "ros-indigo-robot-localization" "ros-indigo-yocs-cmd-vel-mux" "ros-indigo-joy" "ros-indigo-urg-node" "ros-indigo-sick-tim" "ros-indigo-cmake-modules" "daemontools" "openssh-server" "libpcap0.8-dev" "ros-indigo-um7" "ros-indigo-imu-tools" "ros-indigo-jsk-recognition" "ros-indigo-ros-controllers" "ros-indigo-scan-tools" "ros-indigo-gazebo-ros" "ros-indigo-gazebo-plugins" "ros-indigo-moveit" "ros-indigo-gazebo-ros-control" "ros-indigo-hector-gazebo-plugins" "ros-indigo-trac-ik")
for required_pkg in "${required_pkgs[@]}"
do
    if dpkg -l | grep "$required_pkg" > /dev/null; then
        # Package already exists, do nothing
        :
    else
        #echo "$required_pkg is missing"
        sudo apt-get install --print-uris -qq $required_pkg | sed -n "s/'\([^ ]\+\)' \([^ ]\+\) \([^ ]\+\) MD5Sum:\([^ ]\+\)/wget -c \1/p"
    fi
done

This script will generate a list of wget commands to grab all the missing packages that are required for v1.1.0. E.g. on my movo2 computer, the list looked like this;

movo@MOVO2:~$> ./update_movo_1.1.0.sh
wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/w/wmctrl/wmctrl_1.07-7_amd64.deb
wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/x/xdotool/libxdo3_3.20130111.1-3.1_amd64.deb
wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/x/xdotool/xdotool_3.20130111.1-3.1_amd64.deb

2. Copy the output of the above command and run it on your development PC (needs to be connected to the internet at this point).

$> cd ~
$> mkdir tmp && cd tmp
$> wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/w/wmctrl/wmctrl_1.07-7_amd64.deb
wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/x/xdotool/libxdo3_3.20130111.1-3.1_amd64.deb
wget -c http://us.archive.ubuntu.com/ubuntu/pool/universe/x/xdotool/xdotool_3.20130111.1-3.1_amd64.deb

3. Push the downloaded .deb files from your dev PC to some temporary folder on the movo PC you are updating

$> rsync -avP ./*.deb movo@movo2:/home/movo/tmp

4. SSH in to the movo PC and install the packages

$> ssh movo@movo2
movo@MOVO2:~$> cd tmp
movo@MOVO2:~/tmp$> sudo dpkg -i ./*.deb
movo@MOVO2:~/tmp$> # Don't forget to clean up
movo@MOVO2:~/tmp$> cd .. && rm -rf tmp

NB: After running this you will still need to copy the code for this release version to your MOVO PCs. The way you do this might differ from me, so I haven't included any instructions here for that part.

Troubleshooting

Random torso and head motion possible causes:
If you use this release, the config file tells your MOVO by default that it has 7 dof arms (unless you change the movo_config.bash file).

Please insure the following conditions are met:

• Do you have arms connected to your MOVO ? If so, what are the arms' type (6 dof or 7 dof)?
  If you have 6 dof or no arm connected to your movo, please modify the movo_config.bash after copying the code for this release version to your MOVO PCs and before compiling the code (catkin_make) on the MOVO PC's

• If you have arms connected to your MOVO , have you installed them yourself?
  To install the arms on a movo that came with no arms (mechanical and electrical integration), please follow the “Kinova arms installation” section from the Movo User guide documentation.
  If you have performed in installation yourself, please check if your arms are stiff or can be moved by hand after MOVO is powered on. If the arms can be moved by hand, it is a sign that you have to restore the factory configuration on the arms' bases. To restore the factory configuration, please follow see the 'WI-xx.MOVO.-.Base.Configuration.docx' document attached (look at Assets section above this page):

  1. if you do not already have it, you will have to download the latest JACO2 Kinova SDK on your Windows or Ubuntu remote computer (download from http://www.kinovarobotics.com/innovation-robotics/support/)

  2. you will need to follow section 5.4 (5.4 CONNECTING THE BASE TO THE COMPUTER) from the 'WI-xx.MOVO.-.Base.Configuration.docx' document attached

  3. a good practice would be to check your Ethernet configurations in the General Configuration -> Ethernet tab in the Development Center (see picture of section 5.7 from the 'WI-xx.MOVO.-.Base.Configuration.docx' document attached for the location of this tab).

  4. you will have to follow section 5.8 (5.8 RESTORE FACTORY SETTINGS) from the 'WI-xx.MOVO.-.Base.Configuration.docx' document attached

  5. you will have to follow section 5.9 (5.9 SETTING THE ARM LITERALITY) from the 'WI-xx.MOVO.-.Base.Configuration.docx' document attached. This section is only required for the left arm and the Restore Factory Settings sets the Laterality a right-handed robot by default.

  6. you can check that the MAC address and the Ethernet configurations were not changed when you Reset Factory Settings. If you see that the MAC address is now all zero, or that the robot IP address changed, please contact Kinova.