https://github.com/advrhumanoids/pose-task
Repository for a specific pose request to a generic robot.
Science Score: 13.0%
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○CITATION.cff file
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✓codemeta.json file
Found codemeta.json file -
○.zenodo.json file
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○DOI references
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○Scientific vocabulary similarity
Low similarity (10.3%) to scientific vocabulary
Repository
Repository for a specific pose request to a generic robot.
Basic Info
- Host: GitHub
- Owner: ADVRHumanoids
- Language: CMake
- Default Branch: master
- Size: 874 KB
Statistics
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
Pose-Task
Repository for a specific pose request to a generic robot.
Scope
The package allows to perform a specific pose using this Pose_Task file in yaml format. A ROS Service Server it's responsable to read the file and send the information to the ROS client that will generate a trajectory in the joint space to the robot using XBotCore.
Start
Clone and build the pose project: there are several options to do it, but probably the easiest is using the catkin build tool from ROS.
mkdir -p ~/src/catkin_pose_ws/src
cd ~/src/catkin_pose_ws/src
catkin_init_workspace
git clone https://github.com/ADVRHumanoids/Pose-Task.git
cd ..
catkin_make
Run
The selected robot was Centauro, whose basic config file can be set in this way:
set_xbot_config /opt/xbot/build/install/share/xbot/configs/CentauroConfig/centauro_basic.yaml
Note: It's possible to choose any robot, it's important to select the right joints with the specific movements writing them into the pose yaml file:
Pose Name:
Movements: [Move_1, Move_2,...]
Move_1:
JointNameMov: ["joint_name1","joint_name2",...]
PositionNameMov: [pos_joint_name1,pos_joint_name2,...]
TimeMov: [Time_to_Exe the Trajectory]
As first thing you should run roscore:
roscore
Later on you can start the XBotCore in "dummy" mode in another terminal (more information here) in this way:
XBotCore -D
In another terminal you can use the RViZ tool to visualize the kinematic simulation of the robot by running:
rviz
and adding a "RobotModel" with the following Robot Description: xbotcore/robotdescription_
Remind to select "world" for "Fixed Frame" in "Global Options".
This should be the visualization:
Start XBot Communication Plugin:
rosservice call /xbotcore/XBotCommunicationPlugin_switch 1
In another two terminals launch:
. ~/src/catkin_pose_ws/devel/setup.bash
Terminal 1:
rosrun pose pose_targetSrv
Terminal 2:
rosrun pose pose_talker Centauro_Hello_Pose
Result
This should be the visualization:
Owner
- Name: ADVR Humanoids
- Login: ADVRHumanoids
- Kind: organization
- Email: luca.muratore@iit.it
- Location: Istituto Italiano di Tecnologia
- Website: https://www.iit.it/lines/humanoids-human-centered-mechatronics
- Repositories: 206
- Profile: https://github.com/ADVRHumanoids
Humanoids & Human Centered Mechatronics, HHCM, IIT
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