luminize / ros_hal_tests Goto Github PK
View Code? Open in Web Editor NEWThis project forked from cdsteinkuehler/ros_hal_tests
Experiments in gluing ROS to HAL for moving motors
This project forked from cdsteinkuehler/ros_hal_tests
Experiments in gluing ROS to HAL for moving motors
This code is intended as a minimal proof-of-concept for pushing ROS trajectoies into HAL where they can be used to move motors. There is intentionally very little in the way of error checking or safety, to make the code both easier to write and easier to understand. It is assumed that ROS will be properly planning trajectories with appropriate acceleration and velocity limits. It is, however, fairly easy to get ROS to generate discontinuous with large discontinuities. If you plan to drive any physical motors, it is recommended you use limit/limit2 comps to filter the positions streamed from this HAL component. You have been warned! Minimal documentation: Compile this project via ros: catkin_make Launch a ROS configuration that generates /joint_path_command messages I used the Example 3.5 RViz: http://aeswiki.datasys.swri.edu/rositraining/indigo/Exercises/3.5 Start the realtime environment and launch the HAL RT Ring: realtime start halcmd -f joint_stream.hal Optional: Launch halscope to monitor joint states: halscope -i ros.halscope & Launch the python listener code: rosrun listener listener.py Optional: Launch halscope to monitor joint states: halscope -i ros.halscope & Send a trajectory path: Move the robot arm in RViz Click "Plan" Click "Execute" A message with the trajectory is sent Python listener pushes values into the ring buffer Real-time side does something with the data ToDo: x Integrate path filtering as per uniform_sample_filter: - Use orocos KDL (python bindings?) + Used simple linear interpolation, similar to industrial_robot_simulator Make code more intelligent, perhaps like: industrial_robot_simulator: https://github.com/ros-industrial/industrial_core/blob/indigo-devel/industrial_robot_simulator/industrial_robot_simulator#L361-L380 joint_trajectory_streamer: https://github.com/ros-industrial/industrial_core/blob/indigo-devel/industrial_robot_client/src/joint_trajectory_streamer.cpp Integrate into ros_control? http://wiki.ros.org/ros_control#Overview
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.