IOC Robotic's Lab | Laboratory / The BMM Orocos node

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	Installing the node The platform node can be downloaded from a git repository by: $ git clone ssh://ris/gitroot/kinematic.git kinematic.git The node has to be moved inside the platform and to install the package proceed as: $ ssh lplatform (or $ ssh saturno) $ source /opt/orocos-toolchain/env.sh $ cd Complete_package (or whichever folder contains the soem and platform nodes, and the generator and joystick folders) $ sudo su $ cd generator $ make install $ cd .. $ cd joystick $ make install $ cd .. $ cd platform $ make install $ cd .. $ cd soem_slave $ make install $ cd .. $ cd soem_master $ make install $ cd .. $ cd soem_SGDV $ make install $ cd .. Moving the BMM programmatically The BMM can be moved following a trajectory previously defined in a file. Defining a path The path has to be defined in the file 'pathPoints.dat', located in the folder '/Complete_package'. The format is as follows: (0,0,0,0) (1,0,0,0) (4,1,0,0) [$[Get Code]] with (t,x,y,phi) as: t = time in seconds. Time is absolute starting from the initial configuration so t(i+1) > t(i). (x,y) = absolute position in metres. The origin will be the initial position. phi = angle in radians with -π <= phi <= π (range to be confirmed) The axis are defined as plotted in the picture: Executing the path Set ON the platform motors $ ssh lplatform (or $ ssh saturno) $ source /opt/orocos-toolchain/env.sh Only once when setting ON the motors: $ sudo ifup eth4 $ cd Complete_package (or whichever folder contains the platform package) $ sudo su $ deployer-gnulinux -s Control_by_Generator.ops Some errors may appear when loading the deployer. It's fine. Then the platform will move. Stopping the node without turning off the motors Inside the deployer: cd Platform > stop Quit the deployer: "> quit" or "ctrl+D" Go to step 6 to execute another path. WARNING: Any other practice to stop the motors (directly shooting of the drivers or stopping/restarting other orocos nodes) may lead to extremely dangerous high-speed movements of the platforms. Moving the BMM manually, using a Joystick Set ON the platform motors and plug-in the joystick $ ssh lplatform (or $ ssh saturno) $ source /opt/orocos-toolchain/env.sh Only once when setting ON the motors: $ sudo ifup eth4 $ cd Complete_package (or whichever folder contains the platform package) $ sudo su $ deployer-gnulinux -s Control_by_Joystick.ops Stopping the node without turning off the motors Inside the deployer: Push the botton number 2 in the joystick. Quit the deployer: "> quit" or "ctrl+D" Go to step 6 to execute another path. WARNING: Any other practice to stop the motors (directly shooting of the drivers or stopping/restarting other orocos nodes) may lead to extremely dangerous high-speed movements of the platforms. Using the Orocos Ports Under construction

Installing the node

The platform node can be downloaded from a git repository by:

 $ git clone ssh://ris/gitroot/kinematic.git kinematic.git

The node has to be moved inside the platform and to install the package proceed as:

$ ssh lplatform (or $ ssh saturno)
$ source /opt/orocos-toolchain/env.sh
$ cd Complete_package (or whichever folder contains the soem and platform nodes, and the generator and joystick folders)
$ sudo su
$ cd generator
$ make install
$ cd ..
$ cd joystick
$ make install
$ cd ..
$ cd platform
$ make install
$ cd ..
$ cd soem_slave
$ make install
$ cd ..
$ cd soem_master
$ make install
$ cd ..
$ cd soem_SGDV
$ make install
$ cd ..

Moving the BMM programmatically

The BMM can be moved following a trajectory previously defined in a file.

Defining a path

The path has to be defined in the file 'pathPoints.dat', located in the folder '/Complete_package'. The format is as follows:

(0,0,0,0)
(1,0,0,0)
(4,1,0,0)

[$[Get Code]]

with (t,x,y,phi) as:
t = time in seconds. Time is absolute starting from the initial configuration so t(i+1) > t(i).
(x,y) = absolute position in metres. The origin will be the initial position.
phi = angle in radians with -π <= phi <= π (range to be confirmed)

The axis are defined as plotted in the picture:

Executing the path

Set ON the platform motors
$ ssh lplatform (or $ ssh saturno)
$ source /opt/orocos-toolchain/env.sh
Only once when setting ON the motors: $ sudo ifup eth4
$ cd Complete_package (or whichever folder contains the platform package)
$ sudo su
$ deployer-gnulinux -s Control_by_Generator.ops

 Some errors may appear when loading the deployer. It's fine. Then the platform will move.

Stopping the node without turning off the motors

 Inside the deployer:

cd Platform
> stop
Quit the deployer: "> quit" or "ctrl+D"
Go to step 6 to execute another path.

WARNING: Any other practice to stop the motors (directly shooting of the drivers or stopping/restarting other orocos nodes) may lead to extremely dangerous high-speed movements of the platforms.

Moving the BMM manually, using a Joystick

Set ON the platform motors and plug-in the joystick
$ ssh lplatform (or $ ssh saturno)
$ source /opt/orocos-toolchain/env.sh
Only once when setting ON the motors: $ sudo ifup eth4
$ cd Complete_package (or whichever folder contains the platform package)
$ sudo su
$ deployer-gnulinux -s Control_by_Joystick.ops

Stopping the node without turning off the motors

 Inside the deployer:

Push the botton number 2 in the joystick.
Quit the deployer: "> quit" or "ctrl+D"
Go to step 6 to execute another path.

WARNING: Any other practice to stop the motors (directly shooting of the drivers or stopping/restarting other orocos nodes) may lead to extremely dangerous high-speed movements of the platforms.

Using the Orocos Ports

Under construction