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 6: / Line 6: @@
 | 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/RCGv03 Fully functional on RCGv02:] jmc_rave, jmc_can, cmc_recursive, hmi_web, tol_file, hmi_wiimote.<br>
+[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/RCGv02 Fully functional on RCGv03:] jmc_rave, cmc_recursive.
+[http://robots.uc3m.es/svn/ASIBOTcoderepo/tags/RCGv03 Fully functional on RCGv03:] jmc_rave, cmc_recursive.
 == Category: Joint Motion Controllers ==
@@ Line 30: / Line 30: @@
 === 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 ==
@@ Line 45: / Line 47: @@
 === 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 ==
@@ Line 54: / Line 66: @@
 g++ bote_v9.cpp -g -I/usr/include/gtk-2.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include/ -I/usr/include/cairo -I/usr/include/pango-1.0 -I/usr/lib/gtk-2.0/include -I/usr/include/gtk-2.0/gtk -I/usr/include/atk-1.0 -I/usr/include/opencv -lgtk-x11-2.0 -lgdk-x11-2.0 -lcv -lhighgui -o bote_v9
 -->
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