Version: V2.0.5.1

4. Quick Operation Guide

warning

The robot currently supports two startup modes: auto‑start and manual program start.

If auto‑start is enabled, you need to perform below Step 3.d Press A for self‑check, and Step 5 Program Start is not required.
If auto‑start is disabled and you use manual program start, below Step 3.d Press A for self‑check is not required, and you must perform Step 5 Program Start.

Make sure the robot is suspended on the protective stand.
On the remote controller, short‑press the power button and then immediately long‑press it to power on the remote controller.
Powering on the robot:
1. Press the main power switch.
2. Short‑press the power on/off button.
3. Rotate the emergency stop button clockwise until it pops up.
4. (When auto‑start is enabled) After the robot finishes booting (i.e., after the startup sound ends), press the A button on the remote controller to start the self‑check. When the self‑check is successful (the system status indicator turns solid blue‑green), the robot enters the Ready state and can be operated.
Wi‑Fi configuration steps:
1. Use an Ethernet cable to connect the debugging Ethernet port on the back of the robot to the user’s PC.
2. Configure the Ethernet interface on the PC to 192.168.41.xx/255.255.255.0 (do not use 192.168.41.1, 192.168.41.2, or 192.168.41.3).
3. Open a terminal and enter ssh ubuntu@192.168.41.x to log in to the target controller board (the motion‑control x86, Orin1, and Orin2 correspond to 192.168.41.1, 192.168.41.2, and 192.168.41.3 respectively).
4. In the same terminal, configure Wi‑Fi by entering the following commands:
```
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 whether the connection is successful
```
5. After Wi‑Fi is configured, unplug the Ethernet cable.
  
  Once Wi‑Fi configuration is complete, it does not need to be repeated each time. To connect via Wi‑Fi directly, proceed as follows:
  (1) Run ifconfig to check the IP address assigned to the controller board.
  (2) Run ssh ubuntu@x.x.x.x to log in to the controller board, where x.x.x.x is the IP obtained in the previous step. You can then proceed to the next step to start the program.
(When auto‑start is disabled) Program start
1. For manual startup, first make sure the auto‑start service is stopped:
```
sudo systemctl stop proc_manager.service
```
2. Open the first terminal and start the main control node by entering the following commands:
```
# Open the first terminal and start the main control node
sudo su
cd ros2ws
source install/setup.bash
ros2 launch body_control body.launch.py
```
3. To start the motion control – reinforcement learning node instead, enter:
```
sudo su
cd ros2ws
source install/setup.bash
ros2 run rl_control rl_control_node
```

At this point, you can start using the SDK for development and debugging.