Asibot - Implemented Modules v0.2

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

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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.

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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.

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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.

The following is a guide for compilation on a fresh Ubuntu 10.04 (as of 15/05/2010, what you get from a sudo aptitude safe-upgrade). Most installs are from source to assure correct version is installed (compatibility!) and tars can also be found at http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/tars (permanent links!).

Always insert password and answer YES when required! First install some basic utilities:

sudo apt-get install build-essential cmake cmake-curses-gui subversion

Then install ACE 5.7.1.0 (ACE is needed for YARP):

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 --disable-ssl --disable-ace-examples
make
sudo make install
cd ../..

Then install YARP 2.2.6 (YARP is needed for drv_rave):

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
cmake ..
make
sudo make install
cd ../..

Then install Boost 1.39 (BOOST is needed for OpenRave):

wget http://downloads.sourceforge.net/project/boost/boost/1.39.0/boost_1_39_0.tar.gz
tar -zxvf boost_1_39_0.tar.gz
cd boost_1_39_0
./bootstrap.sh
./bjam
sudo ./bjam install
cd ..

Then install Openrave R1457 (OpenRave is needed for drv_rave):

sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev
sudo apt-get install libsoqt4-dev libcoin60-dev 
svn co -r 1457 https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave
cd openrave; mkdir build; cd build
make
sudo make install
cd ../..

And finally compile the actual module:

svn co http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave
cd drv_rave; mkdir build; cd build
cmake ..
make
sudo make install
cd ../..

To run:

cd out/linux-x86
./drv_rave

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vis_rsanchez [?]

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