Difference between revisions of "Asibot - Implemented Modules"
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! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">'''ASIBOT''' Implemented Robot Components</div> | ! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">'''ASIBOT''' Implemented Robot Components</div> | ||
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− | | This page contains descriptions of [[Modules_-_Guidelines_v0.3|Robot Component Guidelines v0.3]] [[ASIBOT]] | + | | 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. |
|} | |} | ||
+ | [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 == | == 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]]. | + | 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''']]) === | === jmc_rave ([[jmc_rave Ubuntu Install|'''Ubuntu''']] / [[jmc_rave Windows Install|'''Windows''']]) === | ||
− | 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 | + | 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]. |
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=== cmc_recursive ([[cmc_recursive Ubuntu Install|'''Ubuntu''']] / [[cmc_recursive Windows Install|'''Windows''']]) === | === cmc_recursive ([[cmc_recursive Ubuntu Install|'''Ubuntu''']] / [[cmc_recursive Windows Install|'''Windows''']]) === | ||
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]. | 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 | ||
== Category: Sensor == | == Category: Sensor == | ||
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=== hmi_3d ([[hmi_3d Ubuntu Install|'''Ubuntu''']]) === | === 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 | ||
== Category: Vision == | == Category: Vision == |
Latest revision as of 14:11, 7 October 2016
ASIBOT Implemented Robot Components
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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.
jmc_can (RT-Linux)
Controlls real robot.
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)
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
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.