FhI Pino documentation and examples
ssh pino@pino-embedded
(You will need to use pino-embedded.local in some network)
Password will be communicated during the meeting.
pino-embedded has the following software features:
Note the following commands refer to the ssh session to the pino-embedded
ecat_master
And on another:
RobotBuilder
From the pilot PC open a web browser and connect to the pino-embedded machine on the port 5000
e.g. on the URL put: pino-embedded:5000 or pino-embedded.local:5000
NOTE: https is not supported at the moment
Click on the "Generate Model" button and after few seconds you will see the modular robot recognized and this should match the real one.
You can use th sliders on the top left corner to define a new homing configuration in joint space.
After this, click on the "Deploy Robot" button which will generate all the files needed to execute the modular robot.
set_xbot2_config ~/src/fhi_ws/src/ModularBot/config/ModularBot.yaml
NOTE: this need to be done only the first time we regenerate a modular robot model.
open_xbot2_config
xbot2-core --hw ec_imp
xbot2-gui
We prepared a set of examples to run:
Last time tutorial: https://github.com/ADVRHumanoids/modularbots_fraunhofer
As an example we will use RViZ through the CartesI/O interactive markers to control the modular robot in the cartesian space.
To run it, on the pino-embedded:
mon launch ModularBot ModularBot_ik.launch
Then on the pilot PC:
rviz
On the xbot2 config file, by default, a gcomp_example plugin is provided.
To run it just start it from the xbot2-gui.
The source code can be found on this repo or on the ~/src/fhi_ws/src/pino_fhi/src/