Quori Bringup Procedure

Operating System Installation

Quori ships with Ubuntu 20.04, ROS, and Quori-specific packages preinstalled. If one wishes to start from scratch, follow the instructions on the Qubuntu repository.

Microcontroller Flashing

Quori contains 3 Arduino-compatible microcontrollers. Like the operating system, these microcontrollers come with the latest software preinstalled. If you wish to reflash the microcontrollers, follow the instructions on the quori_embedded repository.

Builtin Launch Files

Essentials Only

Includes:

• RGB+D bringup (astra_ros)

• Actuator bringup (quori_controller)

• Face projection (quori_face)

• LIDAR bringup

roslaunch quori_launch robot.launch

Mapping and Navigation

Includes everything in robot.launch, plus:

• Mapping

• move_base

roslaunch quori_launch robot_mapping_nav.launch

Mapping and Teleoperation

Includes everything in robot.launch, plus:

• Mapping

• quori_teleop

roslaunch quori_launch robot_mapping_teleop.launch

Teleoperation (No Mapping)

Includes everything in robot.launch, plus:

• quori_teleop

roslaunch quori_launch robot_teleop.launch