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.

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

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

$ sudo apt-get install build-essential cmake subversion

Then install ACE 5.7.1.0:

$ 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:

$ 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:

$ 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; mkdir build; cd build
$ cmake ..

And finally the actual module:

$ sudo apt-get install libboost1.39-dev
$ svn co http://robots.uc3m.es/svn/ASIBOTcoderepo/branches/v02/drivers/drv_rave
$ cd drv_rave; mkdir build; cd build
$ cmake ..
$ make

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vis_rsanchez [?]

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