Version: V2.0.4.x

4. Quick Operation Guide

⚠ Note: The robot currently has two startup methods: auto-start and manual program start.

If auto-start is enabled, you need to execute step 3.d Press A key for self-check, and skip step 5. Program Startup;

If auto-start is disabled and manual program start is used, you do not need to execute step 3.d. Press A key for self-check, but need to execute step 5. Program Startup.

Ensure the robot is suspended on the protective bracket;
Press the power button on the remote control briefly, then immediately press and hold to turn on the remote control;
Power on:
1. Press the main power switch;
2. Briefly press the power on/off button;
3. Rotate the emergency stop button clockwise until it pops out;
4. (With auto-start enabled) After the robot finishes booting (i.e., the boot sound effect ends), press the A key on the remote control to start self-check. After successful self-check (i.e., the overall status light turns to blue-green solid state), it enters the operable Ready state.
Wi-Fi Configuration Steps:
1. Connect the debug Ethernet port on the back of the robot to the user's computer with an Ethernet cable;
2. Configure the user's computer Ethernet port address to 192.168.41.xx/255.255.255.0 (do not configure as 192.168.41.1, 192.168.41.2, 192.168.41.3);
3. Open the terminal and enter ssh ubuntu@192.168.41.x to log in to the main control board that needs to be configured (Motion Control x86, Orin1, Orin2 are 192.168.41.1, 192.168.41.2, 192.168.41.3 respectively);
4. In the terminal from the previous step, continue to enter the following commands to configure IP:
```
sudo nmcli device wifi list #View Wi-Fi hotspot SSID
sudo nmcli device wifi connect 'Wi-Fi SSID' password 'Wi-Fi Password' #Connect to Wi-Fi ifconfig #Check if connection is successful
```
5. Wi-Fi configuration is complete, unplug the network cable.
  
  With Wi-Fi configured, the robot does not need to reconfigure Wi-Fi each time. The steps to connect directly via Wi-Fi are as follows:
  
  ① Enter ifconfig to view the IP address configured for the main control board;
  
  ② Enter ssh ubuntu@x.x.x.x to log in and connect to the main control board server, where x.x.x.x is the IP address obtained in the previous step. You can then proceed to the next program startup step.

(With auto-start disabled) Program Startup

For manual startup, first ensure that the auto-start function has been disabled:
```
sudo systemctl stop proc_manager.service
```

First, open the first terminal and enter the following commands to start the main control node:

# Open the first window to start the main control node
sudo su
cd ros2ws
source install/setup.bash
ros2 launch body_control body.launch.py

Next, open the second terminal. If you need to start the Motion Control - Traditional Algorithm node, enter the following commands:

#If you need service to control the arm
sudo su
cd ros2ws
source install/setup.bash
ros2 launch motioncontrol_component motioncontrol_component_launch.py
# This service, H center and right, external commands cannot control the arm motors, the current service is controlling the arm motors

If you need to start the Motion Control - Reinforcement Learning node, change to the following commands:
```
sudo su
cd ros2ws
source install/setup.bash
ros2 run rl_control_new rl_control_node
```

Now you can start using the SDK for development and debugging.