<note warning>RTAI not installed</note> <note important>Make sure you started the RTAI kernal before atempting to do this</note> Initialize RTAI by running the script, as sudo, start_rt.sh. It is located /home/frobobox/MobotWare/

sudo ./start_rt.sh

This will load the modules needed from RTAI.

Check that they are loaded with

lsmod

<note tip>Each program needs to run in it own terminal</note>

1. Login to the CraftBox
2. Reset the motorcontrollers. Check that all E-stopbuttons are released, then push the green reset button.
3. Start the RHD
   Start RHD in the folder with the configuration file for the current robot. In case of the Armadillo it is
   

   /home/phoenix/mobotware/phoenix/

   Start it with the command

   rhd rhdconfig.rtq.xml

   or

   rhd rhdconfig.joy.xml

4. Start the MRC
   Make sure you have have a calib folder where you are starting the MRC. It is in

   /home/phoenix/mobotware/phoenix/

   Start MRC with the command

   mrc -t1

5. Start a Telnet client
   Start a telnet-client with the command

   telnet localhost 31001

   if you are running it on the Frobobox.