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olive® Ant Kit ​

Overview ​

The olive® Ant Kit is the ideal set to get started with the Olive Robotics set of robotic components. The kit contains everything you need to start building a robotic ant and beyond. Through its simple setup and easy integration software integration you can start driving your own robot around in just minutes.

Olive-Ant!

Kit Components ​

The olive® Ant Kit consists of the following modules:

  • 4x olive® Servo OLV-SRV01-B32
  • 2x olive® IMU OLV-IMU01-9DB
  • 2x olive® Camera OLV-CAM01-S
  • 10x olive® Bolt-X Module Connector
  • 4x Professional Grade USB Type C Cable 25cm
  • 4x Professional Grade USB Type C Cable 15cm
  • 1x USB Type C Smart Hub
  • 1x Professional Aluminium Profile Set 10 x 10mm
  • Hard Cover Suitcase

Technical Specifications: ​

For technical specifications, please refer to the individual documentation for the various components of a kit:

  • Olive Servo

  • Olive IMU

  • Olive Camera

  • Professional USB Type C Cable ​

    Through its fixation screws, the included professional grade USB Type-C cables can be tightly mount to the Olive Robotics modules without loosening over time.

  • Professional Aluminium Profiles ​

    Olive Robotics modules are designed to be compatible with standard aluminium profiles. Using the included screws, nuts and profiles, you can easily connect and mount individual module layouts together.

Setup ​

  1. Follow the Quick Start Guide for Olive Robotics modules to connect the device and start using it.

  2. Note that by default every Olive Robotics module has the IP address 192.168.7.1 and the ROS namespace /olive/<device type>/<device id>/. The IP address of a component tells other computers where to find it in the network. The name of a component defines how it is called in the ROS2 namespace system. For example the joint state of a default servo component is published under the namespace /olive/servo/x166753434/joint, because by default, the olive® Servo module's unique id is part of the namespace. If you change the module's name to e.g. "left" its joint will now be published under /olive/servo/left/joint. The same applies to all other ROS topics that a component publishes. In our example the topics of the servo named "left" are now visible in the ros2 topic list as:

    /olive/servo/left/pwm
/olive/servo/left/magnet/angle
/olive/servo/left/magnet/moving_average
/olive/servo/left/magnet/auto_gain
/olive/servo/left/magnet/magnitude
/olive/servo/left/magnet/diagnostic
/olive/servo/left/joint
/olive/servo/left/joint/voltage
/parameter_events
/rosout
    /olive/servo/left/pwm
/olive/servo/left/magnet/angle
/olive/servo/left/magnet/moving_average
/olive/servo/left/magnet/auto_gain
/olive/servo/left/magnet/magnitude
/olive/servo/left/magnet/diagnostic
/olive/servo/left/joint
/olive/servo/left/joint/voltage
/parameter_events
/rosout

    The names allow you to identify and address individual Olive Robotics modules within the ROS2 namespace.

  3. In order to connect with the network and be addressable within the ROS2 namespace domain, each component needs to have a unique IP address starting with 10.42.0.xxx and a unique module namespace defined. To alter these two properties for each component you have to individually connect them to your PC and use the built-in embedded web-based user interface. The guide to our embedded UI explains how to do this in detail.

    Note: When changing the IP addresses of your Olive Robotics modules, make sure to not use the address 10.42.0.1, as it is reserved for the host PC that you use to connect. When the LED of a component flashes red after changing the IP or name, it might indicate that there's a conflict with other components in the network. In that case, connect only this one component to the host PC and change its name.

  4. Once all components have a unique IP address and a unique name, connect them together using the included smart USB-C hub and connect the hub to your computer. Suppose you named your components the following: left_front, right_front, left_back, right_back for servo motors, front, back for the cameras, and a, b for the IMUs. In this case, using ros2 topic list in a shell on your host computer should return something like this:

    (Note that the order of topics might be altered)

    /olive/servo/left_front/pwm
/olive/servo/left_front/magnet/angle
/olive/servo/left_front/magnet/moving_average
/olive/servo/left_front/magnet/auto_gain
/olive/servo/left_front/magnet/magnitude
/olive/servo/left_front/magnet/diagnostic
/olive/servo/left_front/joint
/olive/servo/left_front/joint/voltage

/olive/servo/right_front/pwm
/olive/servo/right_front/magnet/angle
/olive/servo/right_front/magnet/moving_average
/olive/servo/right_front/magnet/auto_gain
/olive/servo/right_front/magnet/magnitude
/olive/servo/right_front/magnet/diagnostic
/olive/servo/right_front/joint
/olive/servo/right_front/joint/voltage

/olive/servo/left_back/pwm
/olive/servo/left_back/magnet/angle
/olive/servo/left_back/magnet/moving_average
/olive/servo/left_back/magnet/auto_gain
/olive/servo/left_back/magnet/magnitude
/olive/servo/left_back/magnet/diagnostic
/olive/servo/left_back/joint
/olive/servo/left_back/joint/voltage

/olive/servo/right_back/pwm
/olive/servo/right_back/magnet/angle
/olive/servo/right_back/magnet/moving_average
/olive/servo/right_back/magnet/auto_gain
/olive/servo/right_back/magnet/magnitude
/olive/servo/right_back/magnet/diagnostic
/olive/servo/right_back/joint
/olive/servo/right_back/joint/voltage

/olive/cam/front/button/reset
/olive/cam/front/camera/camera_info
/olive/cam/front/camera/compressed
/olive/cam/front/imu
/olive/cam/front/led/user
/olive/cam/front/magnetometer
/olive/cam/front/status

/olive/cam/back/button/reset
/olive/cam/back/camera/camera_info
/olive/cam/back/camera/compressed
/olive/cam/back/imu
/olive/cam/back/led/user
/olive/cam/back/magnetometer
/olive/cam/back/status

/olive/imu/a/imu
/olive/imu/a/magnetometer
/olive/imu/a/status

/olive/imu/b/imu
/olive/imu/b/magnetometer
/olive/imu/b/status

/parameter_events
/rosout
    /olive/servo/left_front/pwm
/olive/servo/left_front/magnet/angle
/olive/servo/left_front/magnet/moving_average
/olive/servo/left_front/magnet/auto_gain
/olive/servo/left_front/magnet/magnitude
/olive/servo/left_front/magnet/diagnostic
/olive/servo/left_front/joint
/olive/servo/left_front/joint/voltage

/olive/servo/right_front/pwm
/olive/servo/right_front/magnet/angle
/olive/servo/right_front/magnet/moving_average
/olive/servo/right_front/magnet/auto_gain
/olive/servo/right_front/magnet/magnitude
/olive/servo/right_front/magnet/diagnostic
/olive/servo/right_front/joint
/olive/servo/right_front/joint/voltage

/olive/servo/left_back/pwm
/olive/servo/left_back/magnet/angle
/olive/servo/left_back/magnet/moving_average
/olive/servo/left_back/magnet/auto_gain
/olive/servo/left_back/magnet/magnitude
/olive/servo/left_back/magnet/diagnostic
/olive/servo/left_back/joint
/olive/servo/left_back/joint/voltage

/olive/servo/right_back/pwm
/olive/servo/right_back/magnet/angle
/olive/servo/right_back/magnet/moving_average
/olive/servo/right_back/magnet/auto_gain
/olive/servo/right_back/magnet/magnitude
/olive/servo/right_back/magnet/diagnostic
/olive/servo/right_back/joint
/olive/servo/right_back/joint/voltage

/olive/cam/front/button/reset
/olive/cam/front/camera/camera_info
/olive/cam/front/camera/compressed
/olive/cam/front/imu
/olive/cam/front/led/user
/olive/cam/front/magnetometer
/olive/cam/front/status

/olive/cam/back/button/reset
/olive/cam/back/camera/camera_info
/olive/cam/back/camera/compressed
/olive/cam/back/imu
/olive/cam/back/led/user
/olive/cam/back/magnetometer
/olive/cam/back/status

/olive/imu/a/imu
/olive/imu/a/magnetometer
/olive/imu/a/status

/olive/imu/b/imu
/olive/imu/b/magnetometer
/olive/imu/b/status

/parameter_events
/rosout

  5. Visualize the data using RQT, RVIZ2, or Foxglove.

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