Difference between revisions of "Asibot - Implemented Modules"

Latest revision as of 14:11, 7 October 2016

ASIBOT Implemented Robot Components
This page contains descriptions of Robot Component Guidelines v0.3 (RCGv03) ASIBOT components. Click here for RCGv02's specs.

Fully functional on RCGv02: jmc_rave, jmc_can, cmc_recursive, hmi_web, tol_file, hmi_wiimote.
Fully functional on RCGv03: jmc_rave, cmc_recursive.

Category: Joint Motion Controllers

These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for JMCs. Link to RCGv02 command format.

jmc_rave (Ubuntu / Windows)

A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at Code Documentation: jmc_rave.

Category: Cartesian Motion Controllers

These modules' behaviour corresponds to Robot Component Guidelines v0.3 commands for CMCs.

cmc_recursive (Ubuntu / Windows)

Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at Code Documentation: cmc_recursive.

cmc_rate

This CMC is intended for receiving streaming rate commands (cartesian velocities), mainly from low-level user input devices. Like the SpaceNavigator. It has joint velocities as output. Only velocities in end-effector frame is allowed as input (I:5). If no command is received the module automatically sends a zero output velocity to all joints.

http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/cmc_rate

Category: Sensor

These modules' behaviour corresponds to Module Guidelines v0.3 commands for SNSs.

sns_xsens

A wrapper module for Xsense IMU.

http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/sns_xsens

Category: HMI

hmi_wiimote

A wrapper module for wiimote driver. Basic interface is as a sensor.

http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi_wiimote

hmi_3d (Ubuntu)

hmi_spacenavigator

A wrapper module for the SpaceNavigator 6 DOF joystick on Linux ('spacenavd' driver: http://spacenav.sourceforge.net/).

http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator

hmi_spacenavigator_win32

A wrapper module for the SpaceNavigator 6 DOF joystick on Windows (original driver from 3DConnexion).

http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator_win32

Category: Vision

vis_rsanchez

Currently under development, integrates OpenCV and GTK. Check out the recent video.

@@ Line 2: / Line 2: @@
 {| class="bluetable" style="width:100%"
 |-
-! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">'''ASIBOT''' Implemented Modules</div>
+! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">'''ASIBOT''' Implemented Robot Components</div>
 |-
-| This page contains descriptions of [[Modules_-_Standard_v0.3|Module Standard v0.3]] [[ASIBOT]] modules. <!--Be sure to check the [[Modules - Dependency Version]] page too.-->
+| This page contains descriptions of [[Modules_-_Guidelines_v0.3|Robot Component Guidelines v0.3 (RCGv03)]] [[ASIBOT]] components. Click here for [[Modules_-_Standard_v0.2|RCGv02]]'s specs.
 |}
-== Type: Joint Motion Controllers ==
+[http://robots.uc3m.es/svn/ASIBOTcoderepo/tags/RCGv02 Fully functional on RCGv02:] jmc_rave, jmc_can, cmc_recursive, hmi_web, tol_file, hmi_wiimote.<br>
+[http://robots.uc3m.es/svn/ASIBOTcoderepo/tags/RCGv03 Fully functional on RCGv03:] jmc_rave, cmc_recursive.
+== Category: Joint Motion Controllers ==
+These modules' behaviour corresponds to [[Modules_-_Command_Format#Joint_Motion_Controllers_.28JMC.29|Robot Component Guidelines v0.3 commands for JMCs]]. [[Modules_-_Standard_v0.2|Link to RCGv02 command format]].
 === jmc_rave ([[jmc_rave Ubuntu Install|'''Ubuntu''']] / [[jmc_rave Windows Install|'''Windows''']]) ===
-A module that instantiates a OpenRAVE kitchen with ASIBOT environment. ASIBOT recieves [[Modules_-_Command_Format|Module Standard v0.3 commands]]. Current controller does not break correctly, physics activated will make gravity move the stopped robot. No force control has been implemented.
+A module that instantiates a OpenRAVE kitchen with ASIBOT environment. No force control has been implemented. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/jmc_rave/html/index.html Code Documentation: jmc_rave].
 <center>
 {|   border="0"
@@ Line 16: / Line 20: @@
 </center>
-== Type: Cartesian Motion Controllers ==
+=== jmc_can ([[jmc_rave RT-Linux Install|'''RT-Linux''']]) ===
+Controlls real robot.
+== Category: Cartesian Motion Controllers ==
+These modules' behaviour corresponds to [[Modules_-_Command_Format#Cartesian_Motion_Controllers_.28CMC.29|Robot Component Guidelines v0.3 commands for CMCs]].
 === cmc_recursive ([[cmc_recursive Ubuntu Install|'''Ubuntu''']] / [[cmc_recursive Windows Install|'''Windows''']]) ===
-Based on recursive methods (such as NR, courtesy of KDL). Should work fine as interface between spacenavigator and any JMC.
+Based on recursive methods, such as Newton-Raphson. Should work fine between any interface and a JMC. Further reference at [http://robots.uc3m.es/trac/ASIBOTcoderepo/doxygen/cmc_recursive/html/index.html Code Documentation: cmc_recursive].
+=== cmc_rate ===
+This CMC is intended for receiving streaming rate commands (cartesian velocities), mainly from low-level user input devices. Like the SpaceNavigator. It has joint velocities as output. Only  velocities in end-effector frame is allowed as input (I:5). If no command is received the module automatically sends a zero output velocity to all joints.
+http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/cmc_rate
-== Type: Sensor ==
+== Category: Sensor ==
+These modules' behaviour corresponds to [[Modules_-_Command_Format#Sensors_.28SNS.29|Module Guidelines v0.3 commands for SNSs]].
 === sns_xsens ===
-A module...
+A wrapper module for Xsense IMU.
-http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v03/sns_xsens
+http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/sns_xsens
+== Category: HMI ==
+=== hmi_wiimote ===
+A wrapper module for wiimote driver. Basic interface is as a sensor.
+http://robots.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi_wiimote
+=== hmi_3d ([[hmi_3d Ubuntu Install|'''Ubuntu''']]) ===
+=== hmi_spacenavigator ===
+A wrapper module for the SpaceNavigator 6 DOF joystick on Linux ('spacenavd' driver: http://spacenav.sourceforge.net/).
+http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator
+=== hmi_spacenavigator_win32 ===
+A wrapper module for the SpaceNavigator 6 DOF joystick on Windows (original driver from 3DConnexion).
+http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/hmi/hmi_spacenavigator_win32
-== Type: Vision ==
+== Category: Vision ==
-=== vis_rsanchez [?] ===
+=== vis_rsanchez ===
 Currently under development, integrates OpenCV and GTK. Check out the recent [[Media:Rsanchez1.ogg | video]].
 <!-- [[File:Rsanchez1.ogg]]-->