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	Moving the platform using the Sensable Omni Haptic In this teleoperation the haptic Sensable Omni is used to command the BMM platform by (X, Y, Theta) velocities through ROS. The X and Y axis correspond to the -Z, -Y Omni axis as described in here. The Theta rotation corresponds to the Y Omni axis. The velocities are sent after a 2cm position threshold of is passed. Requisits ROS Groovy or ROS Hydro ROSJAC repository: '$ git clone https://github.com/joseparnau/rosjac.git' in the 'catkin_ws/src' directory. IOCJAC repository: '$ git clone https://github.com/joseparnau/iocjac.git' in the '~' directory. JACGIT repository: '$ git clone https://github.com/joseparnau/jacgit.git' in the '~' directory. Steps $ roscore 'camaleon' PC: $ roslaunch demos/demo5_omni2bmm_kauNreal_camaleonCore_camaleon.launch move:=1 KRC: Open and execute R1/Program/FRIDemo/FRIControl with the drives ON in Automatic Mode. Platform: Set drives ON. 'bmm' PC: $ roslaunch demos/demo5_omni2bmm_kauNreal_camaleonCore_bmm.launch Problems If the FRIControl program outputs any error, stop (Ctrl+C) 'bmm' ros nodes, set LWR drives OFF, FRI->FRICLOSE and reset FRIControl. Afterwards go back to step 3. If the program does not execute restart the motors and/or reset the security button. It may happend (rarely - maybe while close to a singularity) that one of the LWR joint's speed is surpassed. If so, the LWR will stop. Close all programs and go back to step 2. Caution TO STOP TELEOPERATING MOVE THE OMNI TO ITS CENTRAL POSITION UNTIL THE BMM STOPS MOVING AND PRESS BOTH OMNI BUTTONS TO FIX IT AND STOP TELEOPERATING. NEVER LET THE OMNI FALL AS THE BMM WILL MOVE WITHOUT CONTROL.

Moving the platform using the Sensable Omni Haptic

In this teleoperation the haptic Sensable Omni is used to command the BMM platform by (X, Y, Theta) velocities through ROS.

The X and Y axis correspond to the -Z, -Y Omni axis as described in here.

The Theta rotation corresponds to the Y Omni axis.

The velocities are sent after a 2cm position threshold of is passed.

Requisits

ROS Groovy or ROS Hydro
ROSJAC repository: '$ git clone https://github.com/joseparnau/rosjac.git' in the 'catkin_ws/src' directory.
IOCJAC repository: '$ git clone https://github.com/joseparnau/iocjac.git' in the '~' directory.
JACGIT repository: '$ git clone https://github.com/joseparnau/jacgit.git' in the '~' directory.

Steps

$ roscore
'camaleon' PC: $ roslaunch demos/demo5_omni2bmm_kauNreal_camaleonCore_camaleon.launch move:=1
KRC: Open and execute R1/Program/FRIDemo/FRIControl with the drives ON in Automatic Mode.
Platform: Set drives ON.
'bmm' PC: $ roslaunch demos/demo5_omni2bmm_kauNreal_camaleonCore_bmm.launch

Problems

If the FRIControl program outputs any error, stop (Ctrl+C) 'bmm' ros nodes, set LWR drives OFF, FRI->FRICLOSE and reset FRIControl. Afterwards go back to step 3.

If the program does not execute restart the motors and/or reset the security button.

It may happend (rarely - maybe while close to a singularity) that one of the LWR joint's speed is surpassed. If so, the LWR will stop. Close all programs and go back to step 2.

Caution

TO STOP TELEOPERATING MOVE THE OMNI TO ITS CENTRAL POSITION UNTIL THE BMM STOPS MOVING AND PRESS BOTH OMNI BUTTONS TO FIX IT AND STOP TELEOPERATING.

NEVER LET THE OMNI FALL AS THE BMM WILL MOVE WITHOUT CONTROL.