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Software setup#

Note

Click here to download the newest installation package for AIRBOT Play.

Environment setup#

Auto setup#

If you don't know anything about following processes, just open a terminal from the path of installation package then run auto_setup.sh.

sudo bash ./auto_setup.sh

Manual setup#

Acquire docker environment for control service#

Install docker#

Tips

If you have installed and setup docker, just skip this.

Open a terminal from the path of installation package, then run docker_install.sh.

sudo bash ./docker_install.sh
Pull AIRBOT play docker image and run the container#

Run docker_run.sh to enter docker container, which will cost more time at the first run.

bash ./docker_run.sh

Tips

When using this version control service of AIRBOT, all commands should be run in docker unless particular emphasis. Since that, please run docker_run.sh to attach docker container if you would like to open a new terminal.

Install USB2CAN drivers#

Warning

If you have installed similar drivers or udev rules, advice to remove them first.

cd can_udev
sudo bash ./install_rules.sh

Since the installation, the CAN interfaces would be recognized as "can0", "can1", etc. according to your connection sequence of your robotic arms.

Self-define CAN interface name (optional, for multiple devices)#

Tips

You're recommended to follow this tutorial if you have multiple robotic arms to run on one PC.

Connect your robotic arms to PC then run following command:

cd can_udev
sudo bash ./bind_device.sh

The script will auto recognize connected robotic arms on your PC, what you need is entering your desire name for the arm or just skip it by typing enter key if no need to config it. Then you could specify your robotic arm using configured name as you like.

Python environment setup (optional, for Python SDK user)#

Run following command to install our Python3 package.

sudo apt update
sudo apt install python3-pip
python3 -m pip config set global.index-url https://pypi.mirrors.ustc.edu.cn/simple/
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade setuptools
python3 -m pip install airbot_py-4.0.0-py3-none-any.whl

Please refer to docs Python API for specific usages.

Firmware upgrade#

Note

If you don't know whether need to upgrade your firmware, please contact us for help.

Structure of firmware package#

After downloading our firmware package you will see it with such structure:

|—— FIRMWARE
|   |—— DR_BIRP1_V1.1_2.9.0.bin         # Full firmware for AIRBOT Replay base interface board*
|   |—— DR_ECRP1_V1.2_3.0.0_APP.bin     # APP for AIRBOT Replay encoder board

PS: Firmware with * should be burned through Cube Programmer

Upgrade firmware for encoder board (only for AIRBOT Replay)#

  1. Start your AIRBOT docker container.
  2. Copy firmware into docker container(run it on your local machine). 
    docker cp ./DR_ECRP1_V1.2_3.0.0_APP.bin airbot_play:/opt/firmware/
  3. Enter your docker container in terminal and run following command changing number after --mask from 0x01 to 0x07. Wait until process finishes 
    /opt/airbot-update-tools -d can0 -f /opt/firmware/DR_ECRP1_V1.2_3.0.0_APP.bin --mask 0x01 -t enboard