Difference between revisions of "AquaShoko"
From Lofaro Lab Wiki
(→System Install) |
(→Videos) |
||
| (4 intermediate revisions by the same user not shown) | |||
| Line 6: | Line 6: | ||
* Ach: [https://github.com/golems/ach] (remember to install the python bindings) | * Ach: [https://github.com/golems/ach] (remember to install the python bindings) | ||
* ROS | * ROS | ||
| + | * Gazebo 8: [http://gazebosim.org/] | ||
==System Install== | ==System Install== | ||
Download the AquaShoko-Gazebo project | Download the AquaShoko-Gazebo project | ||
| − | < | + | <source lang="bash"> |
$ git clone https://github.com/thedancomplex/AquaShoko-Gazebo | $ git clone https://github.com/thedancomplex/AquaShoko-Gazebo | ||
| − | </ | + | </source> |
| + | |||
| + | Switch to the feature/ach branch | ||
| + | |||
| + | <source lang="bash"> | ||
| + | # git checkout feature/ach | ||
| + | </source> | ||
Build the project using CMake | Build the project using CMake | ||
| − | < | + | <source lang="bash"> |
| − | $ cd AquaShoko-Gazebo | + | $ cd AquaShoko-Gazebo |
| − | $ mkdir build | + | $ mkdir build |
| − | $ cd build | + | $ cd build |
| − | $ cmake ../ | + | $ cmake ../ |
$ make | $ make | ||
| − | </ | + | </source> |
| + | |||
| + | =Run= | ||
| + | * Open Gazebo | ||
| + | * Add the AquaShoko-Gazebo folder to your path via the "insert" tab | ||
| + | * Insert the model ComplexAquaShokoLongLeg | ||
| + | |||
| + | =Control Via ROS= | ||
| + | In ROS AquaShoko uses the JointState message type to receive commands. The positions are set via modifying the "position" variable for each joint. | ||
| + | |||
| + | To activate the ROS functionality you must run the ROS controller: | ||
| + | |||
| + | <source lang="bash"> | ||
| + | # python roboControl.py | ||
| + | </source> | ||
| + | |||
| + | ==Topic== | ||
| + | * Topic: aquashoko_chatter | ||
| + | * Type: JointState | ||
| + | |||
| + | ==Example ROS Controller== | ||
| + | Below is an example ROS controller in Python that sets all joints to 5 degrees. | ||
| + | |||
| + | <source lang="python"> | ||
| + | #!/usr/bin/env python | ||
| + | import rospy | ||
| + | from sensor_msgs.msg import JointState | ||
| + | from std_msgs.msg import Header | ||
| + | def talker(): | ||
| + | |||
| + | val = 5 | ||
| + | |||
| + | pub = rospy.Publisher('aquashoko_chatter', JointState, queue_size=10) | ||
| + | rospy.init_node('aquashoko_talker') | ||
| + | rate = rospy.Rate(10) # 10hz | ||
| + | hello_str = JointState() | ||
| + | hello_str.header = Header() | ||
| + | hello_str.header.stamp = rospy.Time.now() | ||
| + | hello_str.name = ['joint00', 'joint01', 'joint02', 'joint10', 'joint11', 'joint12', 'joint20', 'joint21', 'joint22', 'joint30', 'joint31','joint32'] | ||
| + | hello_str.position = [val, val, val, val, val, val, val, val, val, val, val, val] | ||
| + | hello_str.velocity = [] | ||
| + | hello_str.effort = [] | ||
| + | pub.publish(hello_str) | ||
| + | |||
| + | i = 0 | ||
| + | while not rospy.is_shutdown(): | ||
| + | hello_str.header.stamp = rospy.Time.now() | ||
| + | pub.publish(hello_str) | ||
| + | rate.sleep() | ||
| + | print i | ||
| + | i = i+1 | ||
| + | |||
| + | if __name__ == '__main__': | ||
| + | try: | ||
| + | talker() | ||
| + | except rospy.ROSInterruptException: | ||
| + | pass | ||
| + | </source> | ||
| + | |||
| + | |||
| + | =Videos= | ||
| + | <html> | ||
| + | <iframe width="560" height="315" src="https://www.youtube.com/embed/EUILEZ3xEvw" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | ||
| + | </html> | ||
| + | |||
| + | <html> | ||
| + | <iframe width="560" height="315" src="https://www.youtube.com/embed/9-PPJArQ-WY" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | ||
| + | </html> | ||
Latest revision as of 10:00, 12 April 2019
Contents
About
This tutorial shows you how to install and run AquaShoko in Gazebo via Ach and Ros
Install
Prerequisites
System Install
Download the AquaShoko-Gazebo project
$ git clone https://github.com/thedancomplex/AquaShoko-Gazebo
Switch to the feature/ach branch
# git checkout feature/ach
Build the project using CMake
$ cd AquaShoko-Gazebo $ mkdir build $ cd build $ cmake ../ $ make
Run
- Open Gazebo
- Add the AquaShoko-Gazebo folder to your path via the "insert" tab
- Insert the model ComplexAquaShokoLongLeg
Control Via ROS
In ROS AquaShoko uses the JointState message type to receive commands. The positions are set via modifying the "position" variable for each joint.
To activate the ROS functionality you must run the ROS controller:
# python roboControl.pyTopic
- Topic: aquashoko_chatter
- Type: JointState
Example ROS Controller
Below is an example ROS controller in Python that sets all joints to 5 degrees.
#!/usr/bin/env python import rospy from sensor_msgs.msg import JointState from std_msgs.msg import Header def talker(): val = 5 pub = rospy.Publisher('aquashoko_chatter', JointState, queue_size=10) rospy.init_node('aquashoko_talker') rate = rospy.Rate(10) # 10hz hello_str = JointState() hello_str.header = Header() hello_str.header.stamp = rospy.Time.now() hello_str.name = ['joint00', 'joint01', 'joint02', 'joint10', 'joint11', 'joint12', 'joint20', 'joint21', 'joint22', 'joint30', 'joint31','joint32'] hello_str.position = [val, val, val, val, val, val, val, val, val, val, val, val] hello_str.velocity = [] hello_str.effort = [] pub.publish(hello_str) i = 0 while not rospy.is_shutdown(): hello_str.header.stamp = rospy.Time.now() pub.publish(hello_str) rate.sleep() print i i = i+1 if __name__ == '__main__': try: talker() except rospy.ROSInterruptException: pass
Videos
