KINGFISHER USV
Contents
1. 2014 All Rights Reserved 5 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS R C Controller Kingfisher ships with a Futaba R C transmitter integrated as a means of backup control The intention is always to operate with PC control but for scenarios where the PC or network malfunctions it is convenient to have an alternate means of retrieving Kingfisher tome Thrust Control Steering Control Power Switch Figure 3 Futaba R C Transmitter Please see Backup R C Operation on page 12 for details of operating Kingfisher with the RC controller Clearpath Robotics Inc 2014 All Rights Reserved 6 of 21 Ver R RO 9 ROS Hydro System Specifications Key specifications of Kingfisher are shown in Table 2 Deployed Dimensions Stowed Dimensions Chassis Weight no battery Battery Weight Draft Maximum Payload Rated Speed forward Operating Time Battery Pack Battery Pack Charger Charge Time User Power Communication Standard Sensing 1300 mm length 940 mm width 340 mm height 1300 mm length 550 mm width 340 mm height 20 kg 9 kg 150 mm 10 kg 1 7 m s 2 hours typical cugARpAr 51 2 in length 37 in width 13 4 in height 51 2 in length 21 6 in width 13 4 in height 44 Ibs 20 Ibs 5 9 in 22 Ibs 5 6 ft s 10 hours standby no motion 14 4V 40 Ah NiMH Short circuit over current over voltage and reverse voltage protection 10 hours 12V fu2. CLEARPATH ROBOTICS KINGFISHER USV UNMANNED SURFACE VESSEL USER MANUAL Q cLEARPATH ICS IENOGIMGNIO esc E sbeudemennmesunessaernmaneereumestacsenesens 2 Waat neuoeo e E E E E E AA 2 Whare RECUO ei E A T Oe eee eee 2 PONOS e E T R 2 THO BASICS aia E E E E 3 aPOWSIG AGNI0GGU E eaa E E EE A 4 SC ia 5 CO Eo 6 SVS Si DCC II 2 Cm eee 7 GE 8 Ce 8 EGRIIES WE 8 9 Getting Started PS 10 Pon NG 10 ER 11 WE 12 Backup R C ODETI 0s ee c 02 ee ee eee 12 RODDGISEIO NR BSI 13 PD piesa c cs E cat carn A EE E boc cata eat es coate E EE E eres tunentatueragenceuccmeean emits 13 oOnnecuonm Be 13 Developing with the Onboard PC 14 ROS REMOTE SG 14 ROS REMOLe Teleoperatio gccacsisechcecsacancoessmobsevenseansiesecbsorsngessatoreuhanvecaesnniesudbsieveagurneedeetievinactoeuseaieetmnees 15 KOV HO 5 55 5 16 VIO GIIINLBGNSIIO eossaunanaeseessecedduesaousnusanesasueesueancuaeaseumennauenesenceuswreracnseess 17 Mantenanmee 2008 18 ET ER 18 WU 18 ae 18 Tips and Troubleshooting ee 19 AServceanagsuport 20 Clearpath Robotics Inc 2014 All Rights Reserved 1 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS INTRODUCTION Clearpath Robotics Kingfisher is a rugged and easy to use Unmanned Surface Vessel USV for research and rapid prototyping applications This guide contains information about the setup operation and mainte
3. Pack the same battery chemistry found in many electric RC cars and boats Please observe the following precautions e Do not tamper with the plug attached to the Battery Pack e Do not tamper with the Battery Pack connection on Kingfisher e Do not operate Kingfisher without the Battery Pack clamped securely in position e Do not tamper with the Electronics Bay e Charge the Battery Pack only with chargers provided by Clearpath Robotics e Return the Battery Pack to Clearpath Robotics for proper disposal The Battery Pack has a rugged exterior to protect it from bumps and scrapes but it C still stores a large amount of electrochemical energy and is inherently dangerous Observe the above precautions carefully Clearpath Robotics Inc 2014 All Rights Reserved 8 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS Lifting and Transport For the safety of users and to maximize the lifetime of Kingfisher please observe the following when manually transporting the robot e Kingfisher should be lifted using only the four carrying handles on the vehicle itself Do not lift Kingfisher by the handle on the Battery Pack e The Portage Pack accessory is recommended for transporting Kingfisher medium and longer distances e Ensure that Kingfisher is powered off and the Battery Pack is removed when transporting longer distances Clearpath Robotics Inc 2014 All Rights Reserved 9 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH
4. TICS GETTING STARTED You are ready to go This section details how to get the thrusters spinning Platform Deployment Kingfisher has been designed for easy deployment and rapid transit to and from work sites The hulls and thrusters stow underneath the chassis to reduce the platform s overall size during transit Unfolding the hulls is a tool less operation and is to be done prior to placing the platform in the water Please see Figure 4 and the steps following Figure 4 Pontoon Deployment 1 Place stowed Kingfisher right side up on the ground 2 Hold the side handle with one hand and use the other to pull up a stowed hull to the deployment position setting Kingfisher back down afterward 3 Repeat this operation for the opposite hull 4 Kingfisher is ready for battery installation and pre launch check Clearpath Robotics Inc 2014 All Rights Reserved 10 of 21 Ver R R0 9 ROS Hydro Q cLEARPATH TICS Battery Pack Installation Kingfisher comes with a Battery Pack that is discharged and disconnected for safety during shipping Charge the battery prior to first time use To reconnect the Battery Pack please see Figure 5 and the steps following e ia T 1 a g 4 5 gt 4 E 3 Eb Figure 5 Battery Pack Insertion 1 Ensure Kingfisher s main power button is in the outer off position 2 Carefully lower the Bat
5. 13 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH ICS To configure the wireless network settings first connect via SSH using the wired method above and then use the WICD network manager To launch the curses based interactive text client to WICD execute S wicd curses To give Kingfisher access to the Internet connect the base station s WAN port to a wired network connection or use WICD to temporarily connect Kingfisher to a wireless network with Internet access such as a wireless hotspot Developing with the Onboard PC When connected to the onboard PC via SSH be aware of the following locations e opt ros hydro is where ROS packages from apt live including Kingfisher s core packages You should not need to modify the contents of this directory e etc ros hydro kingfisher core d is a directory of roslaunch files which are launched on bootup of Kingfisher s computer When you are ready to develop additional software to add to Kingfisher the recommended path is to add your source repo to a new catkin_ws overlay When you roslaunch your software it will seamlessly connect to the already running background ROS network When you re ready to launch some of your software on boat startup you can add launchfiles to the kingfisher core d path but you will also need to change the workspace sourced by the background job To do this edit the final line of the etc ros setup bash file and set it to source the setup bash
6. ay a series of beeps to indicate charging has started 7 When the Battery Pack is fully charged the LCD display will flash FULL Unplug the charger from the wall and then disconnect it from the Battery Pack 00 2 5 a Charging at a lower current will require more time but will ensure that all cells within the Battery Pack are properly balanced yielding longer runtimes and better overall battery health It is recommended that each Battery Pack is charged at 2A after every 5 charge discharge cycles Battery Pack Kingfisher s power supply is a sealed 14 4 V nickel metal hydride NiMH battery providing 40 ampere hours of charge To maximize the lifetime of the Battery Pack recharge immediately after use and keep charged to prevent loss in capacity The Battery Pack should never be used or stored in an environment exceeding 40 degrees Celsius 104 F and should always be charged at temperatures above freezing Electronics Bay Kingfisher s electronics are enclosed in a sealed compartment These do not require maintenance and the bay should only be opened by or under the supervision of Clearpath Robotics Clearpath Robotics Inc 2014 All Rights Reserved 18 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH ICS TIPS AND TROUBLESHOOTING This section lists a few possible issues which may be encountered in the course of using Kingfisher Observation Issue amp Resolution System is unpowered Ensure power button
7. chine is connected to the base station and receives an IP of 192 168 0 120 while the Kingfisher youd like to communicate with has an IP of 192 168 0 101 Workstation 192 168 0 120 Kingfisher PC wlanO 192 168 0 101 ethO 192 168 1 1 Base Station 192 168 0 1 The ROS_MASTER_URI is still the same but your workstation doesn t know anything about 129 168 1 1 or where to find it until you give it a little help using the route command Execute the following three commands to set up your environment to talk to Kingfisher over the wireless modify the address of your development machine and the Kingfisher as appropriate of course is Soom INOS epqooime INOS MA Er Wx laine 7 92 ios 31 obs il sili The route tells your workstation to send packets destined for 192 168 1 1 instead to 192 168 0 101 which is the Kingfisher Once they ve made it that far the Linux networking system will be able to take it from there The custom route will not persist between reboots At any time you can view the Linux kernel routing table by simply executing route ROS Remote Teleoperation When the developer machine has been correctly configured for remote ROS it should be possible to plug in a standard USB joystick and launch Kingfisher teleoperation IOS Unen a r ee le op e ee eoa n This will launch locally on the development machine the standard ROS joystick driver and a translation node which converts joystick messages into velocity c
8. eserved 2 of 21 Ver R RO 9 ROS Hydro cLEARPATH ROBOTICS THE BASICS This section provides an overview of the key specifications of the Kingfisher platform Figure 1 gives a tour of Kingfisher s major components 2 4 GHz Radio Antenna User Payload Area Battery Electronics Bay Carry Handle Running Lights GPS Antenna Hazard Camera Portage Pack Power Button Tie Down Figure 1 Kingfisher at a Glance actual boat may vary slightly from image shown Clearpath Robotics Inc 2014 All Rights Reserved 3 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS Hardware Architecture Figure 2 gives an overview of the standard devices which make up Kingfisher This diagram is provided to aid the user in understanding how Kingfisher is architected 192 168 0 x DHCP assigned 192 168 1 1 Atom PC LED Motor System R C Drivers Drivers Diag Receiver Figure 2 Kingfisher Architecture The eth0 interface is connected to a weatherproof connector in the User Payload Area This connector is used to connect Ethernet payloads such as an IP camera or LIDAR but may also be used to connect to the vehicle over SSH especially to adjust the wireless configuration for example to change the wireless password or to associate with a different base station Clearpath Robotics Inc 2014 All Rights Reserved 4 of 21 Ver R R0 9 ROS Hydro Status Indicators Q cLEARPATH ICS The red and
9. green running lights on the port and starboard sides of Kingfisher indicate vehicle status based on the frequency and pattern of flashing These patterns are described in Table 1 Light Pattern Solid Slow Single Pulse Slow Double Pulse Slow Triple Pulse Fast Single Pulse Fast Double Pulse Description No errors PC and wireless are active and a command stream is being received and processed No command Indicates that the system is fully up but the thrusters are not active due to an absence of command messages Command messages must be sent at 10Hz or faster to maintain steady operation Wireless Error Indicates that the onboard PC is unable to find the base station s wireless network If this indication is seen check the battery level and indicator lights in the base station Computer Error Indicates that the microcontroller in Kingfisher cannot see the onboard PC This is expected for about two minutes when first powering on while the computer boots up Manual Override Indicates that manual control by the Futaba R C controller is active and any commands originating from the PC will be disregarded Critical Battery Pack Indicates that the system battery level is at or below 13V Return to shore immediately Table 1 Kingfisher Status Indicators The precedence order in the table is downward that is the bottom most condition which is true will be what is indicated by the lights Clearpath Robotics Inc
10. her Ces os At present this is primarily for the kingfisher_msgs and kingfisher_teleop packages However the intention is to build this out with display and control interfaces as well as other software Please contact Clearpath Robotics support if you have questions about upcoming functionality For the most up to date version of these instructions see http ros org wiki Robots Kingfisher SSH Connection The embedded PC in Kingfisher may be accessed directly with a wired Ethernet cable or over the wireless network created by the base station For wired access use a standard Ethernet cable to connect from a laptop to the round Ethernet connector in the User Payload Area Use your computer s network configuration utilities to give your Ethernet port an IP in the 192 168 1 x subnet For example from the Ubuntu commandline 5 Suleo Wircemicike Sila 1925 6s 1 LU je Now attempt to ping the onboard computer at its standard IP S joinae LYZ 26s 1 LL If successful you should be ready to connect Sy sslae evcliiakeiciccy coi Gil Yo 16s il IL The default password is clearpath For wireless access connect to the base station s LAN port with an Ethernet cable or simply join the wireless network use the credentials included with your shipment The base station s administration panel will tell you which IP it assigned to the Kingfisher or you can use arp or nmap to locate it Clearpath Robotics Inc 2014 All Rights Reserved
11. i ROS Tutorials MultipleMachines Clearpath Robotics Inc 2014 All Rights Reserved 19 of 21 Ver R RO 9 ROS Hydro crgARpAr A SERVICE AND SUPPORT Clearpath Robotics is committed to your success and satisfaction We are located in Kitchener Ontario and can accept phone calls from 9AM to 5PM EST Monday to Friday at our toll free number or emails at any time 1 800 301 3863 support clearpathrobotics com Clearpath Robotics Inc 2014 All Rights Reserved 20 of 21 Ver R RO 9 ROS Hydro
12. is pressed and check that battery is properly seated in battery bay It is unlikely that the battery No power LED would be so discharged as to be unable to illuminate the LED but you could also confirm with a multimeter that the battery has a terminal voltage of at least 14V Running lights System is in error Please refer to Status Indicators on page 5 to indicate error determine the status being indicated and contact support for further status assistance Canton Network problem Ensure that Kingfisher is indicating successful a connection to the base station and that the user laptop is also successfully connected ie able to ping 192 168 0 1 ROS network problem Ensure that the user laptop has a working ROS Unable to list installation including the Kingfisher workspace Ensure that ROS topics ROS _ MASTER_URI is correctly pointing to the Kingfisher IP and that ROS _IP is set to the user laptop s IP Unable to echo ROS environment problem Ensure that the user laptop is able to ping ROS topics Kingfisher and that ROS _MASTER_URI and ROS IP are set correctly If youre having some trouble that you don t see here or the suggested solution isn t working out please get in touch so we can help you with it see next page for contact details For more details on setting up multiple machines to work together in ROS please see the following pages on the ROS wiki e http www ros org wiki ROS NetworkSetu e htto www ros org wik
13. nance of your Kingfisher USV What s Included Included with each Kingfisher are the following e 1x Clearpath Robotics Kingfisher e 2x 14 4V NiMH Battery Pack e 1x Battery Pack Charger e 1x Futaba Backup Remote Control R C e 1x Payload Connector Dummy Plug e 1x Payload Connector Adapter Kit plug and pins e 1x Ethernet Connector Adapter Kit Each Kingfisher deployment one or more Kingfisher vessels also includes e 1x Clearpath Robotics Base Station e 2x Base Station Battery e 1x Base Station Battery Charger What s Required The embedded PC onboard Kingfisher runs Ubuntu Linux 12 04 and ROS Hydro For maximum simplicity a development computer should be running the same operating system as the onboard computer however any version of Ubuntu supported by ROS Hydro will be adequate If a laptop option was purchased with Kingfisher it will have been already configured with ROS and the appropriate ROS packages For assistance setting up the development computer please see the PC Setup section on page 13 Kingfisher may also be driven using the included Futaba R C controller as described in the Getting Started section on page 10 However the R C controller is intended as a backup to allow powered retrieval of Kingfisher in case of a PC or network malfunction while on the water It has significantly reduced range and reliability compared with the standard high power wireless radio Clearpath Robotics Inc 2014 All Rights R
14. nd check wireless connectivity if required Do not run the thrusters out of water for more than a few seconds Backup R C Operation Power on the R C controller Flip the enable switch top left corner SW2 down toward the user which puts Kingfisher in manual override mode This should be indicated by the Kingfisher running lights moving to short Fast Single Pulses Flipping the switch away from the user restores control to the onboard PC When operation of the thrusters has been verified on land deploy Kingfisher into the water and drive it around The RC link is much weaker than the main wireless radio link between the Kingfisher and the base station thus one should expect Kingfisher to go out of R C range well before losing wireless connectivity If it is desirable to remain inside R C range use ROS on the PC to monitor the sense topic which contains a bitfield indicating when the R C controller is in range and when it is in control of Kingfisher Clearpath Robotics Inc 2014 All Rights Reserved 12 of 21 Ver R R0 9 ROS Hydro Q cLEARPATH ICS ROS OPERATION This section provides an overview of how to use ROS on Kingfisher PC Setup To set up your workstation or laptop hereafter development machine to work with Kingfisher begin by following the setup instructions for ROS Hydro http wiki ros org hydro Installation Then install the Kingfisher ROS stacks S Sudo ape Ce emis pall wes hyd o kingiis
15. of the workspace containing the packages which your startup launch file will require For more information on using Overlays see the ROS wiki http wiki ros org catkin Tutorials workspace_overlayin ROS Remote Setup Connecting with SSH is all well and good but you often want to be able to run ROS nodes on your development machine and have them able to communicate with the vehicle This is especially the case with nodes which have a desktop visualization component such as rviz or image_view or when you want to interface with a locally connected peripheral such as the game controller The nodes which are launched on startup of Kingfisher have the following environment set C POr INC S eS ea TO Il e POr INOS AS Er WIXILSniciee 27 SINOS Ie ILLS Il When connecting to Kingfisher via the wired Ethernet port with an IP such as 192 168 1 10 as instructed above the setup of the environment on your workstation is indeed simple SOOM INCS WES 2 Ge Us 10 qo ROS MASE URIs oe ee ile ie iS li Clearpath Robotics Inc 2014 All Rights Reserved 14 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH ICS Once these two commands have been executed on your workstation it should be possible to run rostopic list rostopic echo etc to verify that you are communicating with the onboard roscore What about connecting over wireless To get the remote ROS connection over wireless an additional step is required Say that your development ma
16. ommand messages Hold button 1 on your joystick to enable command messages to be sent Clearpath Robotics Inc 2014 All Rights Reserved 15 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH ICS Key Topics Kingfisher ships with a rich suite of standard hardware Each included peripheral is set up from the get go with appropriate driver software on the onboard PC This section details how to find the various topics related to each device When connected via SSH or by setting up remote ROS as detailed above list available topics with oe e a The drive system publishes information about battery voltage and motor current on the sense topic It listens for commands on cmd ve1 geometry_msgs Twist and cmd drive kingfisher_msgs Drive The IMU publishes data on the imu data topic The GPS publishes fixes on the gps fix topic The front facing hazard camera publishes on the camera image color suite of image topics To quickly view the camera feed execute the following from the development machine rosrun image view image view Mage Camera 1Mage color compressed Clearpath Robotics Inc 2014 All Rights Reserved 16 of 21 Ver R R0 9 ROS Hydro Q cLEARPATH TIcS PAYLOAD INTEGRATION The User Payload Area of Kingfisher includes a standard Ethernet connector and a custom connector shown in Figure 6 which may be used to power and communicate with serial payloads such as sonar based instruments When
17. sed at 2 5A USB TCP IP RS232 RS485 Battery Voltage GPS IMU Hazard Camera Table 2 Kingfisher System Specifications Clearpath Robotics Inc 2014 All Rights Reserved Ver R R0 9 ROS Hydro 7 of 21 Q cLEARPATH ICS SAFETY Clearpath Robotics is committed to the safety of our users Please be advised that Kingfisher is research equipment designed for prototyping applications and we are not able to protect operators observers and equipment from all possible use cases This section provides guidelines to help ensure the safety of personnel and equipment but the ultimate responsibility lies with the operator General Warnings Kingfisher is a rugged and high performance vehicle For the safety of yourself and others conduct initial experiments in an area that is clear of obstacles and deeper than 0 6 m 24 in Although Kingfisher is able to operate in very shallow water this will avoid any possibility of running aground Indoor swimming pools provide an ideal environment for initial testing When starting out it is recommended to favor slower speeds Operating at speeds lower than 0 5 m s will give the user more time to react if things don t go quite as expected Adhere to all pool and open water safety considerations Never operate the Kingfisher in a pool or other bodies of water while people are in the water Electrical System Kingfisher is powered by a single 14 4V Nickel Metal Hydride NiMH Battery
18. tery Pack so that the plug is inserted into the mating connector in the Battery Bay Ensure that it is firmly seated 3 Clamp down the latches on either side of the Battery Pack s lid It is possible to severely damage the battery connector by attempting to insert the C battery backwards Ensure that the battery is oriented correctly before lowering it into the Battery Bay Clearpath Robotics Inc 2014 All Rights Reserved 11 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS Powering On To power on Kingfisher firmly press the main power button The power button light will illuminate and a moment later the running lights will come on solid for a few seconds before flashing The motors will play a series of startup chirps to indicate ready status For R C only operation the base station is unnecessary However if PC operation will be required set up and power on the base station as well Connect the battery to the power supply pigtail and firmly press the button located on the side of the base station module A blue LED in the power button will come on and the radio inside the base station box will light up It may take Kingfisher as long as five minutes to find the base station but when it does the flashing status indicator should move from Wireless Error Slow Double Pulse to No Command Slow Single Pulse Before deploying into water briefly test the activation of the Kingfisher thrusters with the R C controller a
19. the mating connectors are not being used the supplied plug connector and dust cap must be installed to ensure that the Kingfisher electronics remain sealed The mating part to the Ethernet connector is the CONEC 17 10001 and the mating part to the custom connector is Amphenol MA1CAE1700 both are available online for example from http mouser com Figure 6 Custom Payload Connector Diagram The pinout for this connector is as follows 12V Supply 12V GND Ge 6 NE 8 USER1RS232CTS o 9 12VSsuppy S 12V GND USER2 RS232 RX For building the connector please find assembly instructions online http www sineco com assets images PDFs AssemblyInstructions M23ASeries pdf Clearpath Robotics Inc 2014 All Rights Reserved 17 of 21 Ver R RO 9 ROS Hydro Q cLEARPATH TICS MAINTENANCE Kingfisher is built for rugged long term use However there are steps that can be taken to maintain and extend the life of the platform even further Charging The Battery Pack which ships with Kingfisher can be charged with the following steps Remove Battery Pack from platform Connect the DC output cable from the charger to the Battery Pack terminal connector Plug the charger power cord into the charger and then into a wall receptacle Set the Battery Type to NiMH Press the Start button and set the charging current between 2 and 4 amperes Hold the Start button for 2 seconds The charger will pl
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