Myo_Blink example

You can either run this in a docker container, or run it on a Ubuntu 16.04 with ROS kinetic installed. In any case the your machine or the docker HOST machine needs to have the ftdi drivers installed.

Dependencies

Install the ftdi drivers

wget http://www.ftdichip.com/Drivers/D2XX/Linux/libftd2xx-x86_64-1.3.6.tgz
gunzip libftd2xx-x86_64-1.3.6.tgz
tar xvf libftd2xx-x86_64-1.3.6.tar
cp -r ./release/build/lib* /usr/local/lib
ln -s /usr/local/lib/libftd2xx.so.1.3.6 /usr/local/lib/libftd2xx.so
chmod 0755 /usr/local/lib/libftd2xx.so.1.3.6
cp ./release/ftd2xx.h  /usr/local/include
cp ./release/WinTypes.h  /usr/local/include
ldconfig -v|grep ftd2xx

Create a udev file to automatically load the right ftd2xx driver

wget https://raw.githubusercontent.com/Roboy/myo_blink/master/30-ftdi.rules
sudo cp 30-ftdi.rules /etc/udev/rules.d/

Starting inside a docker container

When you are doing it in docker use the following command after adjusting the paths to point to the repositories.

docker run --rm -ti --privileged -v /dev/bus/usb:/dev/bus/usb -v ~/Development/Roboy/myo_blink/:/cm_workspace/src/myo_blink -v ~/Development/Roboy/flexrayusbinterface/:/cm_workspace/src/flexrayusbinterface -v ~/Development/Roboy/common_utilities/:/cm_workspace/src/common_utilities  ros:kinetic /bin/bash

Install system dependencies

Once you are inside the container or

if you are running 16.04 and kinetic directly run through the following commands

apt-get update
apt-get install -y wget cmake

Install the ros nodes

If you don't already have a catkin workspace, create one:

mkdir -p catkin_workspace/src
cd catkin_workspace/src
catkin_init_workspace

Download the repos

git clone https://github.com/Roboy/flexrayusbinterface.git
git clone https://github.com/Roboy/myo_blink.git
git clone https://github.com/Roboy/common_utilities.git

Build it

cd .. # you should be in catkin_workspace
catkin_make

Configure it

Update the serial number in the yaml config file in .../myo_blink/config to match the serial of your FTDI device.

i.e. line 2: https://github.com/Roboy/myo_blink/blob/master/config/myoarm_controllers.yaml

Adapt other parameters in the yaml file to your liking.

Play with it

Run it

source devel/setup.bash
roslaunch myo_blink myo_blink.launch

Read the muscle's data

rostopic echo -c /myo_blink/muscles/biceps

Please note, that nothing will be published on these topics before you have sent any command to the motor!

Move the motor

Control mode (action):

• 'move to' - PositionController
• 'move with' - VelocityController
• 'keep' - Effort / ForceController

  rosservice call /myo_blink/move "biceps
  action: 'move to'
  setpoint: 10.0"

  Units

• Position controller ('move to' command) expects the setpoint in radians
• actuatorPosition and tendonDisplacement are displayed in encoder ticks
• 1 rad ~ 17275 ticks