Backup of Robot control (robot movement, arm movement, distance sensor, ...)(No. 2)

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Tutorial?

Introduction
Requirements
Robot controller
How use the different function in others task

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)

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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

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Robot controller †

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Download the source code from GitHub †

Download the template from the Github using the link here

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Build the project †

Build the source code in your working directory.

$ make

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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, specifying the controller and its location within workspace directory.

<?xml version="1.0" encoding="utf8"?>

<camera id="1"
          link="REYE_LINK"
          direction="0.0 0.0 1.0"
          position="0.0 0.0 3.0"/>
    
  <camera id="2"
          link="LEYE_LINK"
          direction="0.0 0.0 1.0"
          position="0.0 0.0 3.0"/>
    
  <camera id="3"
          link="WAIST_LINK0"
          direction="0.0 0.0 1.0"
          position="0.0 -5.0 20.0"/>
    
  <camera id="4"
          link="WAIST_LINK2"
          direction="0 0 1"
          quaternion="0.0 0.0 -0.966 0.259"
          position="0.0 40.0 120.0"/>
</instanciate>

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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 get the hand coordinate 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

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How use the different function in others task †

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goTo †

This function has need :
- getAngularXonVect
- getDist2D
- getRoll

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goTo_AvoidObstacle †

This function has need :
- goTo
- distance_sensor

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moveLeftArm or moveRightArm †

These functions don't need others to run properly.

Write the value of each joint in the variable

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Backup of Robot control (robot movement, arm movement, distance sensor, ...) (No. 2)