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 †
Download the template from the Github using the link here
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 :
- 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
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