[[Tutorial]]

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

#contents

*Introduction [#l64cca14]

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 [#f3d604ef]

- 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 [#xc8790c9]

*** Download the source code from GitHub [#a58bb3c2]

Download the template from the Github using the link here

*** Build the project [#q07862eb]

Build the source code in your working directory.
 $ make


*** Run the program [#k54b69fc]

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

#highlight(xml){{

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

<instanciate class="WheelRobot-nii-v1.xml" type="Robot">
  <set-attr-value name="name" value="robot_000"/>
  <set-attr-value name="language" value="c++"/>
  <set-attr-value name="implementation"
                  value="./ControlRobot.so"/>
  <set-attr-value name="dynamics" value="false"/>
  <set-attr-value name="x" value="0.0"/>
  <set-attr-value name="y" value="30.0"/>
  <set-attr-value name="z" value="0.0"/>
  <set-attr-value name="collision" value="true"/>

    <!--stereo camera right-->
  <camera id="1"
          link="REYE_LINK"
          direction="0.0 0.0 1.0"
          position="0.0 0.0 3.0"/>
    <!--stereo camera left-->
  <camera id="2"
          link="LEYE_LINK"
          direction="0.0 0.0 1.0"
          position="0.0 0.0 3.0"/>
    <!--distance sensor-->
  <camera id="3"
          link="WAIST_LINK0"
          direction="0.0 0.0 1.0"
          position="0.0 -5.0 20.0"/>
    <!--monitoring camera-->
  <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>
}}

*** How use the template [#k54b69fc]
*** Starting the simulation [#bcbb7188]

In your working directory : 
 $ sigserver.sh -w ./house_example.xml 

*How use the template [#k54b69fc]

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
-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 [#k54b69fc]

*** goTo [#k54b69fc]
*** goTo(Vector3d pos, double rangeToPoint=0, double Robot_speed=3) [#k54b69fc]
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 [#k54b69fc]
*** goTo_AvoidObstacle(Vector3d pos, double rangeToPoint=0, double Robot_speed=3) [#k54b69fc]
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() [#k54b69fc]
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() [#k54b69fc]
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

*** moveLeftArm or moveRightArm [#k54b69fc]
***grasp_left_hand(std::string &object) or grasp_left_hand(std::string &object)[#k54b69fc]
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

These functions don't need others to run properly.
***release_left_hand() or release_right_hand() [#r948e68a]
These functions release an object.
-These functions don't need others to run properly
-It's possible to use these functions when we want

Write the value of each joint in the variable 
***changeBasis_WorldToRobot(Vector3d pos) [#gb3837e2]
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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