WSPeng / IRL_with_dynamical_system

IRL with dynamical system

Includes mouse_perturbation ROS package, the marker package, and the IRL matlab code.

Getting Started

remember the ros program in this folder is not the updated one, the updated one is in

Prerequisites

https://github.com/yias/motion_example.git

Give examples

Files

FOLDER: mouse_perturbation_robot

It includes c++ code, experiment protocol, modulation dynamical system.

MotionGenerator

the constant to be specified: numObstacle (1 or 2).

MouseInterface

Declare mouseMessage and publish it to the motionGenerator (in my PC). If we use the code in KUKA robot-arm PC, then the mouse data is published by another node "spacenav".

FOLDER: obstacle_with_sample_from_dynamics

matlab code, experiment IRL node.

Usage of ROS code

Usage of MATLAB code

launch MATLAB
$cd /usr/local/MATLAB/R20XXx/bin/
$./matlab
addpaths.m

Running the codes

$cd catkin_ws/
$catkin_make clean
$catkin_make
$source devel/setup.bash

$roscore

$roslaunch lwr_simple_example sim.launch OR $roslaunch lwr_simple_example real.launch

$roslaunch lwr_fri lwr_fri_console.launch typye control inside and starting working with the robotarm

$roslaunch spacenav_node classic.launch $rostopic echo -c /spacenav/joy

$rosrun using_markers basic_shapes $rosrun using_markers arrow

$rosrun motion_example moveToDesiredJoints 42 45 0 -75 60 -45 -45 - this is the horizontal end effector orientation.

$rosrun motion_example moveToDesiredJoints 42 45 0 -75 0 55 0 downward end effector $rosrun motion_example moveToDesiredJoints 42 45 0 -75 0 55 20 to solve the shaking problem
$rosrun motion_example moveToDesiredJoints 43.1 53 0.15 -76 -0.1 53.5 20
damping eigen - 90/1000
damping eigen - 90/500
rot stiff - 15/50
rot damping - 3/50

two obstacle : 45 37 0 -75 0 65 0

$rosrun rqt_reconfigure rqt_reconfigure

$rosrun mouse_perturbation_robot mouseInterface /dev/input/event#

$rosrun mouse_perturbation_robot motionGenerator

Check the 3D mouse
$ls /dev/input $sudo su

Check messages $rostopic echo -c /lwr/ee_pose

$rosrun rqt_graph rqt_graph

Parametere setting in the robotarm PC:
damping eigen - 90/1000 (80 - walid) damping eigen - 90/500 (80 - walid) rot stiff - 11/50 (20 - walid) rot damping - 2/50

while in my PC, it should be 850 and 850 for damping eigen.

code procedure

start the ROS core

start the mouse interface node

start the motion generator node

Deployment

Add additional notes about how to deploy this on a live system

parameters

tailEffect should be off
the obstacle definition in matlab should be larger?

in the header file "MotionGenerator.h", flag PROTOCAL_DEBUG is for debugging the EEG decoding, which means the end effector will return to the origin position if the user release the 3D mouse.

multiple machines

/etc/hosts
add ip address and name.

Something like that: 128.179.131.239 fumi-ThinkPad 128.179.160.1 DESKTOP-TLGS8JE

dialout 'ls /dev/ttyACM*' 'python python_client.py' 'ent group dialout' 'sudo adduser shupeng dialout'

reference links: The matlab page The list of checking hosts

another computer running the IRL algorithm

rosinit('128.178.145.250','Nodename','IRL_wsp')

matlab setenv('ROS_MASTER_URI', 'http://') getenv() setenv('ROS_IP','')