RiSE Platform Setup

General notes for dealing with the full robot platform.


Battery related

  • The NiMH battery packs have 3 white female connectors to power each of the RMC boards
  • The small black female connector is used to charge the battery
  • The RED button in the rear is ON-OFF power for the robot
  • Batteries are considered low or discharged below 13V
  • Power for the carrier board is jumpered from one of the RMC plugs
    • You can power/boot the carrier board independently by separating the jumpered RMC connector


  • The Schulze ISL6-330d charger needs a regulated 12.5V supply up to 12A
  • A Jameco 12.5V supply is currently being used, but seems to drop down below 12V
  • Charging (disconnect battery 1st) - To override low voltage warnings:
    • Hold down the MINUS (-) button when connecting the power supply
    • Scroll to AUTO C with the MINUS (-) and PLUS (+) buttons
    • Plug in a battery (when charger beeps, the battery should be charged (15-16V), unplug the battery and power supply)
    • See the charger manual for additional instructions
  • Discharging (start charger same as for Charging)
    • Scroll to AUTO D with the MINUS (-) and PLUS (+) buttons
    • Plug in a battery (when charger beeps, the battery should be discharged(12-13V), unplug the battery and/or power supply)
    • ALERT! NOTE: To extend battery life, it is good to periodically fully discharge the batteries


  • The ethernet cable is plugged into the rear, near the tail
  • There are special, detachable connectors for connecting a monitor and keyboard directly to the robot (should be in a small pink bubblewrap bag somewhere)
  • The robot runs QNX off of a CF card, so make sure the card is fully inserted


  • There is a wireless server (Netgear ME101) on the tail of the robot that provides wireless commnuications
  • A short CROSSOVER ethernet cable goes from the wireless adapter to the main robot ethernet plug
  • The wireless adapter requires power (a blue and black line), supplied by the power regulator board
  • See StanfordWirelessConfig for more details

Direct connection

-- SalomonTrujillo - 09 Aug 2005
  • An alternative to the wireless connection is a point-to-point connection
  • Connect the RiSE carrier board directly to the operator laptop using a long crossover cable
  • Disable the wireless adapter on the laptop
  • Set the internet connection on the laptop to a point to point connection
    • The laptop must be on the same subnet as the RiSE platform
    • You must be root to execute this command
ifconfig eth0 my_new_addr pointopoint rise_addr
  • The following scripts on tatooine, enable and disable the point-to-point connection (must be root)

Supervisor (on robot)

  • Open a terminal window on the OCU
  • Power up the robot (it may take 5 min to fully boot)
    • Try ping surise to see if it is ready
  • Log onto the robot (from the OCU)
    • Use ssh rise@surise and enter the passwd
  • Change to the Supervisor directory (RoboDevel/RiSE/Supervisor)
    • Use cd RoboDevel/RiSE/Supervisor
  • Change to root
    • Use su
  • Start the supervisor
    • Use ./start.sh -d
  • After finished, quit the supervisor with Ctrl-C and switch the robot power OFF

Updating code

  • The code needs to be compiled on a QNX machine, so you'll likely need an acct on the CMU compile host, bassoon.
  • Log onto a QNX machine
  • Checkout and compile the latest CVS tree
  • Copy the necessary files from the QNX compile machine to the robot
    • Use ./upload_all.sh login@machine rise@surise
    • ie. ./upload_all.sh amcclung@bassoon.msl.cmu.ri.edu rise@surise
  • DONE!
  • NOTE: ALERT! See RiSEPlatformUpdatingCodeNotes or RiSEHelloWorldTutorial or RisePlatformGaitBuilder for more detailed info

Operator (laptop aka OCU)

  • Open a terminal window
  • Change to the Operator directory (RoboDevel/RiSE/Operator)
    • Use cd RoboDevel/RiSE/Operator
  • Start the OCU GUI
    • Use ./start.sh 3000 surise
  • Quit the OCU GUI when finished (while it is running, it searches for the robot and causes network traffic)

Updating code

  • You will need a CVS acct on the CMU server, geeveegie, contact Uluc
  • For a clean tree, delete the RoboDevel dir
  • Checkout the CVS tree
    • Use cvs co RoboDevel
    • At times, you may be able to just use cvs update -d, rather than build a fresh tree
  • Compile the tree
    • Use make from the RoboDevel/ directory
  • If there are no errors, you're DONE!

-- AMcClung? - 16 Feb 2005

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