MyCobot 280 Pi

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MyCobot 280 Pi#

Open In Colab

Note

Optionally, complete the following network setup steps, applicable to devices such as Raspberry Pis running RPi OS Lite.

  • Consider setting up Tailscale for secure remote access and management. Please refer to the Tailscale Setup Guide for detailed instructions on installation and configuration.

  • If you need to connect to a WPA2-Enterprise WiFi network (common in institutional environments), please refer to the Raspberry Pi WPA2-Enterprise WiFi Setup Guide first.

The general structure of the program is as follows;

  • The cobot runs a python server which listens for commands from HiveMQ, and runs the appropriate Python API functions from pymycobot.

  • HuggingFace Spaces and the HuggingFace Python API (used in the Colab demo above) connect to HiveMQ and send commands to the appropriate topics, which the server is listening on.

  • If you own a Cobot, you can follow the instructions below to set it up. Once completed, you also have the option of using the CobotController class as defined in client.py.

Setup guide (if you own a cobot)#

  1. Power on the Cobot280 Pi and connect the micro HDMI cable to a monitor.

  2. Connect the Cobot280 Pi to Wifi by clicking on the Wifi icon in the top right corner of the screen.

  3. Open a terminal and type to the following command to upgrade system packages

sudo apt-get update && sudo apt-get upgrade -y

  1. Install the required system dependencies with the following command

sudo apt-get install git

  1. Clone the repository containing the code for the server run by the Cobot.

git clone https://github.com/AccelerationConsortium/ac-training-lab.git

  1. Since we only need the files in the ac-training-lab/src/ac_training_lab/cobot280pi/ directory, we move them out and delete the rest of the repository.

mv ac-training-lab/src/ac_training_lab/cobot280pi ./
rm -rf ./ac-training-lab
cd ./cobot280pi

  1. Install the required python packages for running the server.

pip install -r requirements.txt

  1. Create an account on HiveMQ. Once you do, create a free serverless cluster. In the Overview > Connection details section, take note of the URL and Port parameters.

  2. Then, in the Access Management section, create new credentials. Choose a Username and Password and take note of these parameters too. For the Permission dropdown, select Publish and Subscribe, and then Save your new credentials.

  3. Create a file in the ac-training-lab/src/ac_training_lab/cobot280pi/ directory named my_secrets.py. Paste the following contents into the file. Replace the <…> attributes with your own values as noted above. Make sure to keep these credentials secret!

HIVEMQ_USERNAME = "<HiveMQ credential username>"
HIVEMQ_PASSWORD = "<HiveMQ credential password>"
HIVEMQ_HOST = "<host URL from HiveMQ>"
DEVICE_PORT = <port from HiveMQ>
DEVICE_ENDPOINT = "cobot280pi/cobot1"

  1. Run the server with the following command.

python device.py

  1. Your server is now running! You can use the CobotController class from the client.py file to control your cobot. Initialize it with the same parameters as in your my_secrets.py file.