| Note: Instructions for updating the firmware for WGE100 cameras on the PR2.. |
Upgrading WGE100 Firmware on the PR2
Description: Updating and verifying the firmware for all WGE100 cameras on the PR2.Tutorial Level: ADVANCED
Contents
Before Starting FW Update
The WGE100 Cameras on the PR2 can be programmed with firmware using the upload_mcs command. Read that page for more information about the upload_mcs command.
Updating FW
Updating the camera firmware on the PR2 requires five steps:
Make sure you have a recent version of the camera_drivers stack.
- Stop all ROS programs on the PR2.
- Upload the firmware
Run pr2-systemcheck
Versions of camera_drivers above 1.3.1 or above 1.2.7 (cturtle) should have WGE100 firmware with improved robustness and error checking. Check your version of camera_drivers with:
$ rosversion camera_drivers
Before the release of camera_drivers to cturtle and/or unstable, you will have to download "trunk" of the camera_drivers stack for this upgrade.
Stop ROS Programs
If you don't stop all ROS programs before updating the camera firmware, your robot may not function properly.
Run:
sudo robot stop
to stop all software on the robot. This will shut down the wge100_camera nodes.
Check Firmware Version
The desired firmware version is:
HDL rev: 600 FW rev: 8C41
To check the firmware version in your camera_drivers stack, run:
$ cat `rospack find wge100_camera`/firmware_images/version.txt
Update Firmware
A single script will update the camera firmware on your PR2:
$ roscd wge100_camera/firmware_images $ sudo bash # ./update_robot.sh
Do not abort during the firmware update.
Run pr2-systemcheck
Check that the firmware has been updated, and that all cameras are present:
sudo pr2-systemcheck
Starting Software
After you restart your robot, the cameras should function as normal.