[EPIC^2] SERGIO

[MatthijsBurgh]

SERGIO

Simulator

• [ ] (#577) Get Simulator Up-and-Running @rokusottervanger

  Architecture

  Decisions

• [X] How to apply launch structure of AMIGO --> One PC with all IO connections? --> Yes. One PC in the base
• [X] Switch to ros-get --> after Montreal.

  ToDo's

• [X] Fix all sergio install targets
• [X] Install pc's correctly @MatthijsBurgh

Hardware

Decisions

• [X] Where to place the Jetson and Matrix Creator --> @hvrooy is going to do research.

  ToDo's

• [X] Reinstall Kinect
• [ ] (#576) Place Jetson @hvrooy @timassman
• [ ] (#575) Place Matrix creator @hvrooy @fibonatic
• [ ] Fix "Static electricity issue" @hvrooy (edit: this hasn't been an issue since working with SERGIO again, maybe it is 'solved')

Low-level software

Decisions

• [X] Orocos vs Simulink vs RosControl? --> RosControl
• [ ] How to RS485? First implementation(USB) and Final implementation(???). @MatthijsBurgh, @hvrooy , @MaxBaeten, @alberth are going to decide.
• [X] TUeES030 firmware version, switch now? Or when attaching arm(s)? --> Switching now.

ToDo's

• [ ] (#574) RosControl interfacing with single motor @jlunenburg, @reinzor, @Rayman(, @LoyVanBeek)

Base

Decisions

ToDo's

• [x] Replace fancy covers by old robust covers @hvrooy
• [ ] ~Fix base controller; Check with torso and dummy masses of arms.~ Can still be unstable at some times
• [ ] RosControl interfacing

Torso

Decisions

ToDo's

• [X] Check URDF model(Especially height of joints around Base-Torso connection) (Fix static pose, publishing correct joint positions) @bobhendrikx, @MatthijsBurgh
• [ ] Check calibration procedure and calculation of joints from measurements @bobhendrikx, @MatthijsBurgh
• [ ] RosControl interfacing
• [ ] Torso control
• [ ] Torso planning

Arms

Decisions

ToDo's

• [ ] RosControl interfacing
• [ ] Get control up and running.
• [ ] Integration of the arms

Grippers

Decisions

ToDo's

• [ ] Fix control of grippers @fibonatic @KevinDang74
• [ ] Integration of the grippers @KevinDang74

[Timple]

Orocos vs Simulink vs ROS

Lets not leave out the options which does not require separate maintainers or knowledge.

[Rayman]

http://wiki.ros.org/ros_control

[LoyVanBeek]

Some useful links for ROS_control, SOEM, EtherCAT:

• https://openethercatsociety.github.io/doc/soem/index.html
• minas_hardware_interface and ethercat_manager as an example of a different robot using EtherCAT
• Another ethercat_manager by Robotiq
• Shadow Robot EtherCAT interface
• ROS EtherCAT also by Shadow Robotics

[alberth]

While leaving last Tuesday, Max talked about considerations of organizing EtherCaT slave code. That got me thinking, I recently wrote a library for E-Box data acquisition on top of Soem that detects the slave setup (for more slave types than just E-Box), and provides elementary IO point access to whatever slave configuration you have. It's all in C89, as the code is the bottom of a (generated) MEX function, but that can be changed if necessary. I didn't implement the IO recovery procedure, since in the use-case, it's simply 'game over' in case of IO failure.

[Timple]

At Nobleo Projects we heb been working on an ethercat interface as well. The once mentioned above did not fulfill our needs (yet). Although I though I only found 4 out of 5.

We where using a working ros_control implementation for our AGV. However the ros_control was not very dynamically scalable. So we are in the process of migrating to a node which dynamically detects the slaves and exposes interfaces for each slave. Actually quite similar to the orocos node.

The source code can be found here: https://bitbucket.org/nobleo/ethercat_interface/src/single-node/

If desired and usefull I am willing to maintain an github repo for this as well.