Using the Pro 4 Standard Manipulator with a Mission Specialist System

NOTE – You must use -c /dev/vr485 after each command when accessing the putty when operating with Workhorse Splashproof Controller, for example:

vr_enum -c /dev/vr485

./vr_debug_putty.py [node_ID] -c /dev/vr485

Follow these installation guidelines:

1. Connect Manipulator to Port 6 of Communications Module. If sharing this port with additional accessories, remove all accessories from the port before connecting the manipulator.

2. Make sure all system connections are properly seal, and power on only the Operator Control Console (OCC).

3. From the Desktop, open a Files Manager window.

4. In the Files Manager, navigate to the process_server_config.yml file located in the directory of the version of software you are using.

5. Once in the config file, scroll all the way to the bottom and enter the lines below:

client_name: videoray

uuid: manip

process_name: /home/videoray/flighthack/vr_engage_manip_pro4.py

arguments:

– “”

process_cmd: keep_alive

publish_console: 0

keep_alive_ms: 1000

6. Save the changes in this file and then close it.

7. Make the process executable:

a. In a terminal window:

• Type: sudo chmod +x /home/videoray/flighthack/vr_engage_manip_pro4.py
• Press Enter
• Password: videoray
• Press Enter

8. Close Terminal Window

9. Configure the port baud rate in the Communications Module: Turn ON the ROV– When performing testing out of water, it is NOT recommend keeping your ROV turned ON for more than 10 minutes

a. Open a New Terminal Window in the OCC.

• Type: killall_vr.sh
• Press Enter
• Type: cd flighthack
• Press Enter
• Type ./vr_debug_putty.py 2
• Press Enter – Immediately after you hit Enter hold down the ‘Shift‘ key on your keyboard and press the ‘+‘ key multiple times – This action will open a new terminal window specifically for configuration. If the window doesn’t appear correctly, try again.

b. Once in the Configuration Window:

• Look for Port 6 (should be last one on list) and see what line the speed setting Is on (usually line 31).
• Type 31, then press Enter
• Enter the new baud rate: The baud rate for the port will be set to 38400 for the Inuktun manipulator. It will have to be set to 115200 in order to be used with the Pro 4 Standard manipulator.
• Press Enter
• Type s to save changes
• Press Enter
• Type x to properly close out the configuration window.
• Press Enter
• Type x and Press Enter again.

c. Close all terminal windows.

10. Recycle power on the vehicle.

11. Start the GreenSea Software.

12. Test the manipulator. The manipulator should now respond to the hand controller inputs through GreenSea and operate like a regular manipulator.