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Connect to MiR100

There are two ways of interacting with the MiR100 mobile platform:

Establish MiR web interface connection

You can connect to the web interface over its hotspot or the outside network it is connected to.

Hotspot

  • connect to the MiR_R*** hotspot with the password
  • open mir.com (default IP = 192.168.12.20) in your browser
  • use your credentials to log in to the web interface

Outside network

  • you have to know the MiR100_IP. If you don't, connect to the web interface over hotspot and go to System -> Settings -> WiFi. MiR100_IP is listed under the connection details
  • open MiR100_IP in your browser
  • use your credentials to log in to the web interface

Warning

MiR100 internal clock is prone to desynchronization which can mess with the robot control.
First thing you have to do after you connect to the MiR web interface is go to System -> Settings -> Date & Time and synchronize the internal clock. Click Load from device and Save changes.

Establish ROS connection

MiR100 has a running ROS instance on its internal computer. This means you can:

  • connect to its internal roscore
  • recommended: connect using the mir_control package

Internal roscore

You have to be connected to the robot hotspot (MiR_R****).
Set the ROS master addres to the address of MiR100 internal roscore and test the connection.

# this needs to be done in every terminal
export ROS_MASTER_URI=http://192.168.12.20:11311
export ROS_HOSTNAME=<your IP: 192.168.12.***>

# test the connection
# test subscriber
rostopic list
rostopic echo /odom

# test publisher
rostopic pub -r 50 /cmd_vel geometry_msgs/TwistStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
twist:
  linear:
    x: 0.0
    y: 0.0
    z: 0.0
  angular:
    x: 0.0
    y: 0.0
    z: 0.2"

mir_control package

Using mir_control you can establish a ROS connection over the MiR_R*** hotspot or the outside network MiR100 is connected to.

Hotspot

If you are connected to the MiR_R**** hotspot:

# launch mir_control
roslaunch mir_control mir_control.launch

Terminal output will hang for a bit on "ROS bridge connected" message.
Wait until "MiR100: ..." messages finish, then continue.

# test the connection
# test subscriber
rostopic echo /odom

# test publisher
rostopic pub -r 50 /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.2"

Outside network

If you are connected to the same outside network as MiR100:

# launch mir_control
roslaunch mir_control mir_control.launch mir_ip:=<MiR100_IP>
Terminal output will hang for a bit on "ROS bridge connected" message.
Wait until "MiR100: ..." messages finish, then continue.

# test the connection
# test subscriber
rostopic echo /mir100/odom

# test publisher
rostopic pub -r 50 /mir100/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.2"

Note

When using mir_control we send geometry_msgs/Twist type messages instead of geometry_msgs/TwistStamped to the /cmd_vel topic. That is because the mir_driver package expects messages of type geometry_msgs/Twist on the /cmd_vel topic and converts them to geometry_msgs/TwistStamped messages before sending the commands to the robot.

Connect MiR100 to a WiFi network

You can connect the robot to an outside network:

  • connect to the MiR_R**** hotspot
  • in the web interface go to System -> Settings -> WiFi
  • select "Add connection"
  • select the network and fill in required information
  • when you're finished select "Add connection"
  • MiR100_IP is displayed under the network connection details. You can use this IP to access the web interface or when using mir_control