Robot control (robot movement, arm movement, distance sensor, ...)

Tutorial?

If you have any question, please contact yoann.dutel@outlook.fr

Introduction †

This sample consist at different function to control a robot in SIGVerse.

You can :

• Move the robot with a position control and speed just with destination coordinates. There are an option to move the robot with obstacle avoidance.
• Move the two arm with a position control for each joint just with final value of joints.
• Function to grasp and release an object.
• Determine a new coordinate to grasp an object on a table.
• Function to change of basis (world coordinate to robot coordinate)

Requirements †

• Ubuntu 32/64 bit PC. (Ubuntu installed on virtual machine is also file)
• SIGServer 2.2.2 or later
• SIGViewer 2.2.0 or later

Robot controller †

Download the source code from GitHub †

You can clone the entire repository by running :

$ git clone https://github.com/SIGVerse/samples.git

Or you can get the source code here on Github : https://github.com/SIGVerse/samples/tree/master/RobotControl

Then place on the good directory :

$ cd samples/ControlRobot/

Build the project †

Build the source code in your working directory.

$ make

Run the program †

Chooze your <xml> file for the environment. Include in the package, the <xml> of EGPSR environment.

If you would change the environment, specify the ControlRobot.so and its location within workspace directory.

Starting the simulation †

In your working directory :

$ sigserver.sh -w ./house_example.xml 

How use the template †

You can use a demonstrator for each function in this template. You must send a specific command for each function.

• To move the robot without obstacle avoidance
  • 1) In SIGViewer, send the message "move" to the robot
  • 2) In SIGServer, indicate the destination coordinate
  • 3) In SIGServer, indicate "2" for avoidance

• To move the robot with obstacle avoidance
  • 1) In SIGViewer, send the message "move" to the robot
  • 2) In SIGServer, indicate the destination coordinate
  • 3) In SIGServer, indicate "1" for avoidance
  • Caution : the distance sensor is not completly operational

• To move the arm
  • 1) In SIGViewer, send the message "move_left_arm" or "move_right_arm" to the robot
  • 2) In SIGServer, indicate the angle for each joints (refer to JointDefinition for the names)

• To grasp an object on a table automatically
  • 1) In SIGViewer, send the message "grasp_planning" to the robot
  • 2) In SIGServer, indicate the name of the table and the object that you would grasp
  • This function is a little demonstration how we can use all functions

• To get hand coordinates in robot basis
  • 1) In SIGViewer, send the message "get_LeftHand" or "get_RightHand" to the robot
  • 2) In SIGServer, you can see the coordinate of the hand.

• To grasp an object
  • 1) In SIGViewer, send the message "grasp_left" or "grasp_right" to the robot
  • 2) In SIGServer, indicate the object name.

• To release an object
  • 1) In SIGViewer, send the message "release_left" or "release_right" to the robot

How use the different function in others task †

goTo(Vector3d pos, double rangeToPoint=0, double Robot_speed=3) †

This function is to move the robot in his environment. The robot go in straight line and his trajectory is automatically corrected during the movement.

• This function has need :
  • getAngularXonVect
  • getDist2D
  • getRoll
• Parameters
  • pos : the destination coordinates
  • rangeToPoint : the distance between coordinates and real position
  • Robot_speed : speed of the robot (initially : 3)
• Return true if the position is reached
• This function must be used only in OnAction

goTo_AvoidObstacle(Vector3d pos, double rangeToPoint=0, double Robot_speed=3) †

This function is to move the robot in his environment too but the trajectory is corrected if there is an obstacle in the front of the robot. Caution : this function is not totally finish. There are a bug with the distance sensor.

• This function has need :
  • goTo
  • distance_sensor
• Parameters
  • pos : the destination coordinates
  • rangeToPoint : the distance between coordinates and real position
  • Robot_speed : speed of the robot (initially : 3)
• Return true if the position is reached
• This function must be used only in OnAction

distance_sensor() †

This function return the distance between the camera and an obstacle. For more informations, refer to the tutorial Distance sensor

• This function has need to be connect at SIGViewer with a ViewService
• Return : the distance

moveLeftArm() or moveRightArm() †

These functions move the arm with a velocity in each joint.

• These functions don't need others to run properly
• Write the value of each joint in the global variable <m_joint_left[7]> or <m_joint_right[7]>
• Return true if the angles value are reached
• This function must be used only in OnAction

grasp_left_hand(std::string &object) or grasp_left_hand(std::string &object) †

These functions grasp an object in the robot hand.

• These functions don't need others to run properly
• Parameter : the name of the object to be grasped
• Writes in a global variable if an object is grasped or not
• It's possible to use these functions when we want

release_left_hand() or release_right_hand() †

These functions release an object.

• These functions don't need others to run properly
• It's possible to use these functions when we want

changeBasis_WorldToRobot(Vector3d pos) †

This function transform a coordinate in world basis to a coordinate in robot basis.

• This function has need only getRoll
• Parameter : coordinate in world basis
• Return : coordinate in robot basis