Difference between revisions of "Asibot - Implemented Modules v0.2"

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Line 44: Line 44:
 
  $ tar -zxvf ACE-5.7.1.tar.gz
 
  $ tar -zxvf ACE-5.7.1.tar.gz
 
  $ cd ACE_wrappers; mkdir build; cd build
 
  $ cd ACE_wrappers; mkdir build; cd build
 +
$ ../configure
 
Then install YARP:
 
Then install YARP:
 
  $ wget http://downloads.sourceforge.net/yarp0/yarp-2.2.6.tar.gz
 
  $ wget http://downloads.sourceforge.net/yarp0/yarp-2.2.6.tar.gz

Revision as of 13:17, 15 May 2010

This page should contain a description of implemented ASIBOT modules. Current implementations refer to Modules - Standard v0.2.


drv_fake [1]

A stand-alone module that simulates a 5 DOF, no joint-limited robot. Position control is totally implemented. Stop commands must be set between velocity commands (for sake of code understandability). No force control has been implemented.

Drv fake-1.PNG Drv fake-2.PNG Drv fake-3.PNG Drv fake-4.PNG Drv fake-5.PNG
Drv fake-6.PNG Drv fake-7.PNG Drv fake-8.PNG Drv fake-9.PNG



drv_ml [2]

A module that passes standard v0.2 commands to Marilou ASIBOT. Note that velocity control must be enabled in each motor of the Marilou ASIBOT model. No force control has been implemented.



drv_rave [3]

A module that instantiates a OpenRAVE kitchen with ASIBOT environment. ASIBOT recieves v0.2 commands. Current controller does not break correctly, physiscs activated will make gravity move the stopped robot. No force control has been implemented.

Drv rave-3.jpg

Install on a fresh Ubuntu 10.04 (as of 15/05/2010, what you get from a sudo aptitude safe-upgrade):

First install some basic utilities:

# apt-get install cmake build-essential subversion

Then install ACE:

$ wget http://download.dre.vanderbilt.edu/previous_versions/ACE-5.7.1.tar.gz
$ tar -zxvf ACE-5.7.1.tar.gz
$ cd ACE_wrappers; mkdir build; cd build
$ ../configure

Then install YARP:

$ wget http://downloads.sourceforge.net/yarp0/yarp-2.2.6.tar.gz
$ tar -zxvf yarp-2.2.6.tar.gz
$ cd yarp-2.2.6; mkdir build; cd build

And finally the actual module:

# svn co http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave

vis_rsanchez [?]

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