intranet:projects:robot:iis_robot_sw
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intranet:projects:robot:iis_robot_sw [2017/01/16 09:42] c703101 |
intranet:projects:robot:iis_robot_sw [2018/09/03 19:35] (current) |
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| For members using the iis infrastructure in our lab: | For members using the iis infrastructure in our lab: | ||
| - | git clone --recursive git@git.uibk.ac.at:iis_software/robot_sw.git | + | git clone --recursive git@git.uibk.ac.at:iis-software/robot_sw.git |
| For external users: | For external users: | ||
| Line 51: | Line 51: | ||
| ===Setup environment variables=== | ===Setup environment variables=== | ||
| + | |||
| + | |||
| Add an adapted version of the following example to your .bashrc file (<distribution> = groovy, hydro or indigo): | Add an adapted version of the following example to your .bashrc file (<distribution> = groovy, hydro or indigo): | ||
| Line 58: | Line 60: | ||
| export ROS_MASTER_URI='<your ros server ip>:11311' | export ROS_MASTER_URI='<your ros server ip>:11311' | ||
| export IIS_INCLUDE_PATH='<your path>/iis_robot_sw' | export IIS_INCLUDE_PATH='<your path>/iis_robot_sw' | ||
| + | export VREP_ROOT=$IIS_INCLUDE_PATH/external_libs/vrep | ||
| export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$IIS_INCLUDE_PATH/external_rosmake_ws:$IIS_INCLUDE_PATH/iis_rosmake_ws | export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$IIS_INCLUDE_PATH/external_rosmake_ws:$IIS_INCLUDE_PATH/iis_rosmake_ws | ||
| export PYTHONPATH=$PYTHONPATH:$IIS_INCLUDE_PATH/external_libs/LeapSDK/lib:$IIS_INCLUDE_PATH/external_libs/LeapSDK/libx64 | export PYTHONPATH=$PYTHONPATH:$IIS_INCLUDE_PATH/external_libs/LeapSDK/lib:$IIS_INCLUDE_PATH/external_libs/LeapSDK/libx64 | ||
| export VREP_PACKAGE_PATH=$IIS_INCLUDE_PATH/external_libs/vrep | export VREP_PACKAGE_PATH=$IIS_INCLUDE_PATH/external_libs/vrep | ||
| + | |||
| + | ===Setup Environment via bashrc=== | ||
| + | <code> | ||
| + | |||
| + | ROSVERSION=melodic | ||
| + | WS_DIR=$HOME | ||
| + | DEFAULT_WS=iis_ws | ||
| + | |||
| + | #ROSVERSION=kinetic | ||
| + | #DEFAULT_WS=robot_sw/iis_catkin_ws | ||
| + | |||
| + | function getmyip() { | ||
| + | MYIP=$(ip addr show wlan0 | grep "inet " | awk '{print $2}' | sed 's%/.*$%%g') | ||
| + | if [ -z $MYIP ] ; then | ||
| + | MYIP=$(ip addr show eth0 | grep "inet " | awk '{print $2}' | sed 's%/.*$%%g') | ||
| + | fi | ||
| + | if [ -z $MYIP ] ; then | ||
| + | MYIP=127.0.0.1 | ||
| + | fi | ||
| + | echo "using IP: $MYIP" | ||
| + | } | ||
| + | |||
| + | function ros_local() { | ||
| + | getmyip | ||
| + | source /opt/ros/$ROSVERSION/setup.bash | ||
| + | export ROS_MASTER_URI=http://$MYIP:11311 | ||
| + | echo "set ROS_MASTER_URI=$ROS_MASTER_URI" | ||
| + | export ROS_HOSTNAME=$MYIP | ||
| + | export ROS_IP=$MYIP | ||
| + | |||
| + | if [ "$1" != "" ] | ||
| + | then | ||
| + | WORKSPACE=$1 | ||
| + | else | ||
| + | WORKSPACE=$DEFAULT_WS | ||
| + | fi | ||
| + | |||
| + | echo "using workspace: $WORKSPACE" | ||
| + | export IIS_INCLUDE_PATH=$WS_DIR/$WORKSPACE | ||
| + | if [ -f $IIS_INCLUDE_PATH/devel/setup.bash ] ; then | ||
| + | echo "sourcing $IIS_INCLUDE_PATH/devel/setup.bash" | ||
| + | source $IIS_INCLUDE_PATH/devel/setup.bash | ||
| + | else | ||
| + | echo "No setup.bash file found on $IIS_INCLUDE_PATH/devel/setup.bash" | ||
| + | fi | ||
| + | |||
| + | } | ||
| + | |||
| + | function ros_lab() { | ||
| + | ros_local | ||
| + | export ROS_MASTER_URI=http://192.168.64.104:11311 | ||
| + | echo "changed ROS_MASTER_URI=$ROS_MASTER_URI" | ||
| + | } | ||
| + | |||
| + | function ros_robotino() { | ||
| + | ros_local | ||
| + | export ROS_MASTER_URI=http://192.168.1.111:11311 | ||
| + | echo "changed ROS_MASTER_URI=$ROS_MASTER_URI" | ||
| + | } | ||
| + | </code> | ||
| + | |||
| + | Adapt ''ROS_VERSION'', ''WS_DIR'', ''DEFAULT_WS'' to you system. ''WS_DIR'' can be used when all workspaces are stored in the same directory, e.g. ''$HOME/Repos''. The ''DEFAULT_WS'' variable specifies the default workspace to be used when no argument is specified. An argument can be specified for initializing a different workspace, e.g. ''ROS_LOCAL robot_sw/catkin_iis_ws''. | ||
| ===Build=== | ===Build=== | ||
| Line 72: | Line 137: | ||
| Description of the arm control topics can be found [[intranet:projects:robot:armtopics|here]]. | Description of the arm control topics can be found [[intranet:projects:robot:armtopics|here]]. | ||
| - | ===Hand=== | + | ===Grippers=== |
| - | emre provides input to senka | + | ==Schunk SDH2== |
| + | * [[intranet:projects:robot:iis_schunk|Schunk SDH Hand]] | ||
| + | ==Schunk PG70== | ||
| + | * [[intranet:projects:robot:iis_pg70|Schunk PG70]] | ||
| + | ==Pisa/IIT SoftHand== | ||
| + | * [[intranet:projects:robot:iit_softhand|Pisa/IIT Softhand]] | ||
| + | ===KIT Head=== | ||
| + | Description of the KIT Head can be found [[intranet:projects:robot:kit-head|here]] | ||
| - | ===Head=== | ||
| - | dadhichi provides input to senka | ||
| =====Simulator===== | =====Simulator===== | ||
intranet/projects/robot/iis_robot_sw.1484556123.txt.gz · Last modified: 2018/09/03 14:57 (external edit)