https://github.com/advrhumanoids/modularbots_fraunhofer

Science Score: 13.0%

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Low similarity (10.9%) to scientific vocabulary

Last synced: 10 months ago · JSON representation

Repository

Basic Info

Host: GitHub
Owner: ADVRHumanoids
Language: CMake
Default Branch: master
Size: 19.4 MB

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Watchers: 4
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Open Issues: 2
Releases: 0

Created over 4 years ago · Last pushed about 2 years ago

Metadata Files

Readme

modularbots_fraunhofer

This repository contains a few instances of ModularBot models, which replicate the output of our automatic discovery tool as applied to the corresponding ModularBot topologies.

Running the simulation

Given a particular configuration of choice (say ModularBot_6DOF), the simulation environment is executed as follows: - [terminal #1] run the simulator - mon launch ModularBot_6DOF ModularBot_gazebo.launch (or roslaunch if you haven't installed its better sibling ros-$ROS_DISTRO-rosmon :P) - [terminal #2] run xbot2 (attaches to simulation time) - xbot2-core --simtime --config $(rospack find ModularBot_6DOF)/config/ModularBot.yaml

Running the hardware

On the real robot, the following steps must be followed: - release the emergency stop and wait 5 seconds. - [terminal #1] run the EtherCat master (starts the boards) - ecat_master - wait for it to stop printing - [terminal #2] run xbot2 (starts motors in impedance mode) - xbot2-core --hw ec_imp --config $(rospack find ModularBot_6DOF)/config/ModularBot.yaml

To connect to the robot with uncontrolled motors (read-only mode), change the --hw flag to --hw ec_idle. Note that this will stop the motors if needed.

Monitoring & playing with joint sliders

Run the xbot2-gui command inside a terminal
Enable the ros_ctrl plugin (left panel)
Make sure reference filtering is enabled (top panel) and set to safe
Enable the slider panel (top right panel) and move the joint sliders

More on joint space control can be found at our examples repository.

Cartesian control

Run CartesIO after making sure that the ros_ctrl plugin is active: mon launch ModularBot_6DOF ModularBot_cartesio_IK.launch Then, use RViz interactive markers or the Python/C++ API to send references to CartesIO's ROS API (see the tuturial).

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

GitHub Events

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Last synced: over 1 year ago

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Total issues: 8
Total pull requests: 0
Average time to close issues: 3 months
Average time to close pull requests: N/A
Total issue authors: 2
Total pull request authors: 0
Average comments per issue: 3.38
Average comments per pull request: 0
Merged pull requests: 0
Bot issues: 0
Bot pull requests: 0

Past Year

Issues: 0
Pull requests: 0
Average time to close issues: N/A
Average time to close pull requests: N/A
Issue authors: 0
Pull request authors: 0
Average comments per issue: 0
Average comments per pull request: 0
Merged pull requests: 0
Bot issues: 0
Bot pull requests: 0

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