IOC Robotic's Lab | Laboratory / LWR Dynamic Model estimation testing

HomePage WikiSandbox Lab Robots Haptics Cameras Hands BMM 1 & 2 Drones Ontology KnowledgeMotionPlanning RFID Pant-tilt Pozyx Development tools ARM development STM32F4-Discovery CMake ? Revision Control ROS Orocos ? Soem Realtime OS Fril ? Emacs with Lisp Projects Cgrip ? Platform ? Visual Odometry Dual-Arm Motion Planning PhanTorque Libraries 3DOF Regressor Bi hand-arm PCA Kinect 3D Model Capture Tips ? Console LaTeX Working on ? Project Grasping edit SideBar	Required In the bmm and any PC: ROS Groovy git clone https://github.com/joseparnau/iocjac.git (in /$(user home)) git clone https://github.com/joseparnau/rosjac.git (in /$(user home)/catkin_ws/src) Open lwr_dyn_model_knode.cpp and in line 122 change username "josep.a.claret" for the proper username. Recompile (1. $ cd ~/catkin_ws; 2. $ catkin_make) Trajectory visualization This is for editing/testing the trajectory of the manipulator and visualizing it in a virtual LWR loaded in the Kautham environment without the need of moving the real robot. In any PC: Edit trajectory in ~/catkin_ws/src/lwr_dyn_model_trajectory_generator/src/lwr_dyn_model_trajectory_generator.cpp $ cd ~/catkin_ws $ catkin_make $ roslaunch kview_prenodes LWR_dynamic_model_camaleon.launch move:=0 Running the trajectory in the real LWR This is for moving the real LWR by a given trajectory previously edited in file ~/catkin_ws/src/lwr_dyn_model_trajectory_generator/src/lwr_dyn_model_trajectory_generator.cpp. ROS_MASTER needs to be executed in the bmm for better performance (no data loss). Change in ~/.bashrc. In 'bmm' machine: roslaunch kview_prenodes LWR_dynamic_model_real_bmm.launch move:=1 In the KRC: Open R1/Program/FRIDemo/FRIControl Switch to automatic mode Turn drives ON Execute program by pressing upper green button (with sign '+') until the line 52 "WAIT SEC 0.05" is achieved. The LWR should move!!!! Optionally the desired trajectory can be visualized in Kautham. In any PC (remember to point ROS_MASTER to bmm): $ roslaunch kview_prenodes LWR_dynamic_model_real_camaleon.launch move:=0 Tips The TCP cannot go under 1 meter to avoid collisions with the platform... but also does not allow the TCP to move under 1 meter in the front side outside the platform.

Required

In the bmm and any PC:

ROS Groovy
git clone https://github.com/joseparnau/iocjac.git (in /$(user home))
git clone https://github.com/joseparnau/rosjac.git (in /$(user home)/catkin_ws/src)

Open lwr_dyn_model_knode.cpp and in line 122 change username "josep.a.claret" for the proper username.

Recompile (1. $ cd ~/catkin_ws; 2. $ catkin_make)

Trajectory visualization

This is for editing/testing the trajectory of the manipulator and visualizing it in a virtual LWR loaded in the Kautham environment without the need of moving the real robot.

In any PC:

Edit trajectory in ~/catkin_ws/src/lwr_dyn_model_trajectory_generator/src/lwr_dyn_model_trajectory_generator.cpp
$ cd ~/catkin_ws
$ catkin_make
$ roslaunch kview_prenodes LWR_dynamic_model_camaleon.launch move:=0

Running the trajectory in the real LWR

This is for moving the real LWR by a given trajectory previously edited in file ~/catkin_ws/src/lwr_dyn_model_trajectory_generator/src/lwr_dyn_model_trajectory_generator.cpp.

ROS_MASTER needs to be executed in the bmm for better performance (no data loss). Change in ~/.bashrc.

In 'bmm' machine:

roslaunch kview_prenodes LWR_dynamic_model_real_bmm.launch move:=1

In the KRC:

Open R1/Program/FRIDemo/FRIControl
Switch to automatic mode
Turn drives ON
Execute program by pressing upper green button (with sign '+') until the line 52 "WAIT SEC 0.05" is achieved.

The LWR should move!!!!

Optionally the desired trajectory can be visualized in Kautham. In any PC (remember to point ROS_MASTER to bmm):

$ roslaunch kview_prenodes LWR_dynamic_model_real_camaleon.launch move:=0

Tips

The TCP cannot go under 1 meter to avoid collisions with the platform... but also does not allow the TCP to move under 1 meter in the front side outside the platform.