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

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This page should contain a description of implemented ASIBOT modules. Current implementations refer to [[Modules - Standard v0.2]].
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This page contains descriptions of implemented ASIBOT modules. These implementations refer to [[Modules - Standard v0.2]]. Be sure to check the [[Modules - Dependency Version]] page too.
 
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=== drv_fake [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_fake] ===
 
=== drv_fake [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_fake] ===
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=== drv_rave [http://roborepo.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave] ===
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=== drv_rave ([[drv_rave Ubuntu Install|'''Ubuntu''']] / [[drv_rave Windows Install|'''Windows''']]) ===
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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.
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A module that instantiates a OpenRAVE kitchen with ASIBOT environment. ASIBOT recieves [[Modules - Standard v0.2]] commands. Current controller does not break correctly, physics activated will make gravity move the stopped robot. No force control has been implemented.
 
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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!).
 
  
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Always insert password and answer YES when required! First install some basic utilities:
 
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$ sudo apt-get install build-essential cmake cmake-curses-gui subversion
 
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Then install ACE 5.7.1.0 (ACE is needed for YARP):
 
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$ wget http://download.dre.vanderbilt.edu/previous_versions/ACE-5.7.1.tar.gz
 
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$ tar -zxvf ACE-5.7.1.tar.gz
 
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$ cd ACE_wrappers; mkdir build; cd build
 
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$ ../configure --disable-ssl --disable-ace-examples
 
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$ make
 
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$ sudo make install
 
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$ cd ../..
 
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Then install YARP 2.2.6 (YARP is needed for drv_rave):
 
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$ wget http://downloads.sourceforge.net/yarp0/yarp-2.2.6.tar.gz
 
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$ tar -zxvf yarp-2.2.6.tar.gz
 
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$ cd yarp-2.2.6; mkdir build; cd build
 
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$ cmake ..
 
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$ make
 
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$ sudo make install
 
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$ cd ../..
 
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Then install Boost 1.39 (BOOST is needed for OpenRave):
 
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$ wget http://downloads.sourceforge.net/project/boost/boost/1.39.0/boost_1_39_0.tar.gz
 
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$ tar -zxvf boost_1_39_0.tar.gz
 
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$ cd boost_1_39_0
 
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$ ./bootstrap.sh
 
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$ ./bjam
 
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$ sudo ./bjam install
 
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$ cd ..
 
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<!-- Then install Coin3d 3.1.3 (COIN3D is needed for OpenRave):
 
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$ wget http://ftp.coin3d.org/coin/src/all/Coin-3.1.3.tar.gz
 
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$ tar -zxvf Coin-3.1.3.tar.gz
 
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$ cd
 
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$ ./configure
 
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$ make -->
 
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Then install Openrave R1457 (OpenRave is needed for drv_rave):
 
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$ sudo apt-get install libqt4-dev qt4-dev-tools libxml2-dev
 
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$ sudo apt-get install libsoqt-dev-common libcoin60-dev
 
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$ svn co -r 1457 https://openrave.svn.sourceforge.net/svnroot/openrave/trunk openrave
 
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$ cd openrave; mkdir build; cd build
 
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$ make
 
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$ sudo make install
 
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And finally the actual module:
 
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$ sudo apt-get install libboost1.39-dev
 
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$ svn co http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave
 
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$ cd drv_rave; mkdir build; cd build
 
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$ cmake ..
 
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$ make
 
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To run:
 
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$ export LD_LIBRARY_PATH=/usr/local/lib
 
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$ cd out/linux-x86
 
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$ ./drv_rave
 
 
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=== vis_rsanchez [?] ===
 
=== vis_rsanchez [?] ===
 
Currently under development, integrates OpenCV and GTK. Check out the recent [[Media:Rsanchez1.ogg | video]].
 
Currently under development, integrates OpenCV and GTK. Check out the recent [[Media:Rsanchez1.ogg | video]].
 +
<!--[[File:Rsanchez1.ogg]]-->

Latest revision as of 17:19, 2 June 2010

This page contains descriptions of implemented ASIBOT modules. These implementations refer to Modules - Standard v0.2. Be sure to check the Modules - Dependency Version page too.

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 (Ubuntu / Windows)

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

Drv rave-3.jpg


vis_rsanchez [?]

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

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