Overview

The kodlabmjbotssdk has a few key key features added to the pi3hat library developed by mjbots: https://github.com/mjbots/pi3hat 1. Cross compiling support from ubuntu 20.04 to Raspberry pi 2. Integration with NYU realtimetools library: https://github.com/machines-in-motion/realtimetools for better realtime performance 3. Integration with LCM (https://lcm-proj.github.io/) for remote logging and remote input to the robot 4. The MjbotsControlLoop object which handles the structure of the control loop for the easy creation of new controllers 5. The MjbotsHardwareInterface which provides a convenient interface for communicating with any number of moteus motor controllers 6. The RobotBase class which provides an interface for updating robot state and joint torques.

Note: This library only supports torque commands. If you wish to use position control, you either must close the loop yourself or modify the library to allow for the position loop to Run on the moteus.

Important

In order to keep the message size down, kp and kd on the motors must be set to 0

Usage

MjbotsControlLoop:

To use the Mjbots control loop, create a class which inherits the MjbotsControlLoop object and implements Update to set the torques in the robot object as follows.

cpp class MyControlLoop : public kodlab::mjbots::MjbotsControlLoop { using MjbotsControlLoop::MjbotsControlLoop; void Update() override{ std::vector<float> torques = control_effort; robot_->SetTorques(torques); } };

A simple example using the MjbotsControlLoop is provided in examples/spint_joints_example.cpp. The MjbotsControlLoop is optionally templated with an LCM log type, an LCM input type, and a RobotBase-derived class. These are described below.

Accessing robot state

To access the robot state use robot_->GetJointPositions() or robot_->GetJointVelocities() or robot_->GetTorqueCmd()

Logging

To add logging to your robot either use one of the provided lcm objects or create your own, build lcm data types with the provided script, and then include the relevant header. Then when defining the child class of the MjbotsControlLoop add the template argument of the lcm class.

class Controller : public MjbotsControlLoop<lcm_type>

Next implement the PrepareLog to add data to the logging object.

  void PrepareLog()  override{
    log_data_.data = data;
  }

Finally when creating the instance of the class set the log_channel_name option in the option struct.

  options.log_channel_name = "example";
  Controller control_loop(options)

To log data, on your laptop Start the bot lcm tunnel with bot-lcm-tunnel <IP> and Start logging using lcm-logger. Refer again to examples/spin_joints_example.cpp for an example implementation.

Input LCM Communication

In order to set gains during run time or to communicate between your laptop and the robot, first define the LCM data type you would like to use, then build lcm types. Next when defining the child class of MjbotsControlLoop add the input template argument of the lcm class along with the logging lcm class.

class Controller : public MjbotsControlLoop<LcmLog, LcmInput>

Next, implement the ProcessInput function to do things with the data in lcm_sub_.data_

  void ProcessInput()  override{
    gains_ = lcm_sub_.data_.gains;
  }

PD Set points and gains

The SDK is built around just sending ffwd torque commands, but the moteus does have an onboard PD loop. In order to use the built in PD loop modify the PD gains on the moteus. Next when setting up the control loop set:

cpp kodlab::mjbots::ControlLoopOptions options; options.use_pd_commands = true; By setting use_pd_commands to true the robot will now send pd scales and set points to the moteus. This will slow down the communication with the moteus, so only use this option if you are actually going to use the pd commands.

In order to set the PD gains and set points next when constructing the joint vector set the value of moteus_kp and moteus_kd to the values configured on the moteus. Now in the update function you can use

robot_->joints[0]->set_joint_position_target(0); robot_->joints[0]->set_joint_velocity_target(0); robot_->joints[0]->set_kp(0.8); robot_->joints[0]->set_kd(0.01); to set gains and targets for the onboard pd loop.

Robot Base

The RobotBase object is intended to be inherited by a user-defined robot class. The derived class should implement an override of RobotBase::Update(). Note that this new Update() function must increment the cycle count. A simple implementation follows.

```cpp class MyRobot : virtual public kodlab::RobotBase { using kodlab::RobotBase::RobotBase;

public: int mode = 0; // Member variables encode whatever added state we need // Set up robot update function for state and torques void Update() override { cyclecount++; std::vector torques(numjoints, 0); SetTorques(torques); } }; ```

The corresponding control loop definition would be.

cpp class MyController : public MjbotsControlLoop<LcmLog, LcmInput, MyRobot>

Refer to include/examples/simple_robot.h for a sample robot class and examples/robot_example.cpp for a usage example.

Behaviors

The Behavior abstract class can be derived by the user and used to define custom behaviors. The abstract class includes functions for behavior initialization, startup, updating, and stopping, as well as methods for declaring whether the behavior is prepared to transition to another behavior.
For a user-defined behavior, this would look like the following, where UserBehavior is the new behavior and UserRobot is the user's RobotBase child robot class. cpp class UserBehavior : public kodlab::Behavior<UserRobot> If LCM inputs and/or outputs are desired on a behavior level, the user should instead make a child of the IOBehavior class. For example, the following defines UserIOBehavior which runs on UserRobot from above, receives inputs through a UserInput LCM message, and logs outputs via a UserOutput LCM message. cpp class UserIOBehavior : public kodlab::IOBehavior<UserRobot, UserInput, UserOutput>

Refer to the SimpleSpinJointsBehavior class defined in include/examples/simple_spin_joints_behavior.h for an example of how the behavior class can be implemented, and the SimpleControlIOBehavior in include/examples/simple_control_io_behavior.h for an example of implementing a behavior with inputs and outputs.

Behavior Manager

The BehaviorManager class is a container for storing and running Behavior-derived behaviors. This class maintains a default behavior at the beginning index in its internal vector. Additional behaviors can be appended to the vector and the default behavior can be set by the user. The BehaviorManager can be composed into a child class of MjbotsControlLoop and used to maintain a series of behaviors running on aRobotBase-derived robot.

Mjbots Behavior Loop

The MjbotsBehaviorLoop extends the MjbotsControlLoop to include a BehaviorManager which internally manages Behavior objects for a RobotBase-derived class. The MjbotsBehaviorLoop works in much the same way as the MjbotsControlLoop, except the user no longer needs to override the Update method. They should still override the PrepareLog and ProcessInput methods if they are using control-loop-level LCM logging or inputs. A simple MjbotsBehaviorLoop implementation with behavior selection input would look like the following.

```cpp class UserBehaviorLoop : public kodlab::mjbots::MjbotsBehaviorLoop {

using kodlab::RobotBase::RobotBase;

void ProcessInput(const UserInput &inputdata) override { // Set behavior from `inputdata` SetBehavior(input_data.behavior); }

}; ```

An example demonstrating usage of the MjbotsBehaviorLoop is provided in examples/behavior_robot_example.cpp.

Soft Start

Each joint has its own soft start. To configure the soft start set the MoteusJointConfig.max_torque to the maximum allowable torque for the motor and MoteusJointConfig.soft_start_duration_ms to the duration of the soft start. The soft start will ramp the maximum torque from 0 to max_torque over soft_start_duration_ms. Once the time is greater than soft_start_duration_ms, torque will be limited to max_torque.

Console Logging

The log.h header provides a set of debug logging macros with adjustable logging severity levels. In order of increasing severity, the levels are TRACE, DEBUG, INFO, NOTICE, WARN, ERROR, and FATAL.

The minimum severity level for console output is set by defining the LOG_MIN_SEVERITY macro (default is SEVERITY_ALL). Setting LOG_MIN_SEVERITY to SEVERITY_NONE will disable macro console output.

Usage of the LOG_XXXX logging macros (where XXXX is DEBUG, INFO, etc.) is akin to using std::fprintf. For example, cpp LOG_WARN("This is a warning message."); LOG_ERROR("%s", "This is an error message.");

Conditional logging macros LOG_IF_XXXX are also provided, which take a leading conditional argument before the standard std::fprintf input. For example, cpp LOG_IF_INFO(false, "%s", "This info message will not be logged."); LOG_IF_FATAL(true, "This fatal message will be logged.");

Verbose logging commands are provided for all logging macros, and take the form VLOG_XXXX or VLOG_IF_XXXX. The default output of the log and verbose log macros is as follows. [SEVERITY] Log message [SEVERITY][path/to/file | function:line_no] Verbose log message The output behavior can be changed by redefining the LOG_ARGS, LOG_FORMAT, VLOG_ARGS, and VLOG_FORMAT macros. For example, to produce verbose output of the form [SEVERITY][path/to/file][line_no][function] Verbose log message the verbose macros would be redefined as follows ```cpp

define VLOGARGS(tag) tag, _FILE, __LINE, func

define VLOG_FORMAT "[%-6s][%-15s][%d][%s] "

```

Colored terminal output is provided by default via ANSI escape codes. This can be disabled by defining the NO_COLOR macro.

Setup

This setup sets up the PI as an access point and sets up cross compiling on the main computer.

Setting up your Pi

The setup instructions are for headless setup. If you are not comfortable with the headless operation of a Pi, now is a good time to start. This setup will install the dependencies on the Pi and turn the Pi into an access point/hotspot for easy connection to later on. * Use a realtime pi kernel and flash sd card https://github.com/guysoft/RealtimePi * Configure the ethernet on your laptop to share internet with the pi. * The goal of this setup is to be able to ssh over ethernet onto the pi, and to give the pi access to the internet without connecting it to a wifi network * With the PI power on and connected to your laptop via ethernet, use nmap on your laptop to find pi ipaddress sudo nmap -sn IP/24 * ssh onto pi ssh pi@IP, password is raspberry * Change the pi password to something that you will remember * From your laptop, scp setup script onto pi scp <path to kodlab_mjbots_sdk>/utils/setup-system.py pi@IP:~/ * From your laptop scp performance governer onto pi scp <path to kodlab_mjbots_sdk>/utils/performance_governor.sh pi@IP:~/ * Edit the setup script on the pi with your desired wifi ssid, wifi password, and wifi ip address * On the Pi, run setup script sudo python3 setup-system.py * This will install dependencies, make the operating system even more realtime, and setup the wifi access point * On the Pi, run performance governor script via sudo * Reboot pi * Add pi to etc/hosts on your laptop to make ssh easier * Add ssh key * Run rsync command to get libraries onto computer (see below)

Laptop Toolchain

Taken from https://stackoverflow.com/questions/19162072/how-to-install-the-raspberry-pi-cross-compiler-on-my-linux-host-machine/58559140#58559140

Download the toolchain

wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz

Extract the toolchain on your laptop

sudo tar xfz raspi-toolchain.tar.gz --strip-components=1 -C /opt

Create the rootfs folder in $HOME/raspberrypi/rootfs

Get the libraries

rsync -vR --progress -rl --delete-after --safe-links pi@<PI_IP>:/{lib,usr,opt} $HOME/raspberrypi/rootfs

Add the following lines to your ~/.bashrc on your laptop, making sure your raspberry pi version is correct.

export RASPBIAN_ROOTFS=$HOME/raspberrypi/rootfs
export PATH=/opt/cross-pi-gcc/bin:$PATH
export RASPBERRY_VERSION=4

Laptop LCM

• Download lcm from git and install using make: https://lcm-proj.github.io/build_instructions.html
• If you have the java issue, it can be fixed here: https://github.com/lcm-proj/lcm/issues/241

• Install lcm python with

  cd ../lcm-python

  sudo python3 setup.py install

• Add export PYTHONPATH="${PYTHONPATH}:<path to sdk>/kodlab_mjbots_sdk" to your ~/.bashrc

• From the kodlab_mjbots_sdk repo, run ./scripts/make_lcm.sh to generate lcm files. You will need to rerun this command each time you change an lcm definition.

• Install libbot2 from https://github.com/KodlabPenn/libbot2

• On the host computer to setup the connection Run bot-lcm-tunnel <PI-IP or hostname>. From here you can Start logging_ with

  lcm-logger

Submodules

This repo uses submodules to set them up run the following commands from the repo folder

git submodule init
git submodule update

Motor Setup

This section is a work in progress. Currently in order to setup the motors, we set the following parameters on the moteus: * servo.pid_position.kp, servo.pid_position.kd, servo.pid_position.ki = 0 * servopos.position_min,servopos.position_max = nan * id

The pid gains are set to zero to keep the torque packet size down. Servo pos max and min are disabled since they can potentially cause confusing faults if you don't understand them.

Building

Current command to build clean is

cd .. && rm -R build/ && mkdir build && cd build/ && cmake .. -DCMAKE_TOOLCHAIN_FILE=<path to sdk>/cmake/pi.cmake && make

Normal build is

cmake .. -DCMAKE_TOOLCHAIN_FILE=~/mjbots/kodlab_mjbots_sdk/cmake/pi.cmake

Running Code

To Run code, first scp the binary onto the pi, and then Run it as sudo using:

sudo ./code_binary

Citation

To cite this repo please use the information in the CITATION.cff file

Acknowledgement

This work was supported by ONR grant #N00014- 16-1-2817, a Vannevar Bush Fellowship held by Daniel Koditschek, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.