Control & Basic Operations

Connectivity & network configuration

Raph Rover comes with a built-in router that provides a Wi-Fi access point and can be configured to suit the user's needs. The router supports both 2.4 GHz and 5 GHz frequency bands, allowing for flexible connectivity options. Users can connect their devices to the rover's Wi-Fi network to access the Web User Interface and rover's onboard computer.

To learn how to connect to the Raph Rover's Access Point, follow guide below:

📄Connect to Rover AP

Detailed guide on connecting to the Raph Rover mobile robot's default Wi-Fi access point, including power-on steps and default network credentials.

The table below describes rover's network configuration:

Device	IP Address or hostname	Description
Router	10.0.0.1	The built-in router providing Wi-Fi access point.
UPBoard 7000	10.0.0.2 or raph.local	The built-in computer running ROS and other software components. Uses mDNS for hostname resolution.
RaphCore	raphcore.local	The microcontroller managing low-level hardware functions. Its IP address is not consistent across the rovers but can be accessed via mDNS under the name raphcore.local.

You can learn how to connect the Raph Rover to an existing Wi-Fi network or configure network settings in the guides below:

📄Connect to a Wi-Fi Network

Detailed guide for configuring the Raph Rover's router web interface to connect the robot to a local WiFi network and the Internet using client mode.

📄Configure the Router

Learn how to configure the RUTX10 router on your Raph Rover. This guide covers changing the SSID, password, country code, and wireless channel.

Understanding LED panel signals

Raph Rover indicates its current state using LED panels. Understanding these signals can help users diagnose issues and monitor the rover's status.

Normal states

LED	LED description	State action	State description	Priority
	Green, constant - side panels	Battery state	Indicates current battery level. Can be activated by pressing the POWER button when the charger is disconnected. Each side panel corresponds to a battery on the robot.	106
	Color corresponding to battery charge, breathing - side panels	Battery charging	Indicates charging and shows current battery charge. When fully charged, the side panel light up green and stops breathing. Charging animation can be disabled by pressing POWER button when charging.	51
	Color corresponding to battery charge - side panels	Battery connected	Indicates that a battery was connected successfully.	108
	Red, fading out - side panels	Battery disconnected	Indicates that a battery was disconnected or is fully depleted.	108
	Blue segment going back and forth - side panels	Micro-ROS connection animation	Indicates that the robot is waiting for Micro-ROS connection.	60
	White, constant	Rover fully on	Shows that RaphCore is connected to onboard computer. When motors are relaxed a light blue segment will go around the whole LED strip.	1
	Yellow, constant	Maintenance mode	Indicates that maintenance mode is active.	90
	Blue, constant	Servo calibration	Indicates that servo calibration is in progress.	90

Fault states

LED	LED description	State description	Priority
	Red, flashing - rear panel	Servo calibration failure	102
	Red, flashing and fading	Motor communication error	104
	Red, flashing	Motor fault	104

Fault states also indicate which motor has failed by illuminating the segment of the LED strip that corresponds to the position of the faulty motor, with side panels indicating wheel motors, and rear panel indicating servos.

Controlling the Rover

Raph Rover can be controlled in multiple ways, depending on the needs and preferences. The available control methods are:

• Web User Interface - From the Web UI Raph Rover can be controlled using a gamepad, keyboard or virtual joystick.
• ROS topics - Users can publish commands to the appropriate ROS topics to control the rover's movement programmatically. To see available topics refer to the ROS API documentation.
• Joystick teleoperation - By using the joy_teleop node from raph_teleop ROS package, users can control the rover using a gamepad such as an Xbox or PlayStation controller.

Raph Rover supports multiple steering modes:

• Ackermann steering - Suitable for smooth navigation in open areas.
• Turn in place - Ideal for tight spaces and precise maneuvers.

Ackermann steering

Turn in place

Steering modes can be switched via the Web UI or by calling the controller/set_steering_mode ROS service.