dumbo_control
Overview
This metapackage contains Dumbo's low level control and hardware interface of Schunk arms + parallel gripper and force-torque sensors following the ros_control framework.
Installation
Make sure you have sudo rights!. The (soft-) low level realtime hardware control loop requires sudo rights to be able to run the control thread with a realtime scheduler.
You should be prompted for your sudo password duing compilation.
For compiling within an IDE, e.g. QtCreator, you can edit the sudoers file to allow chmod and chown to be run as sudo without password. Do the following:
sudo visudo
Then add the following line at the end of the file:
**user_name** ALL = NOPASSWD: /bin/chown, /bin/chmod
Where user_name is your user name.
NB: Alternatively, you can also compile/run the control loop without sudo rights!!!
However, this will probably lower the control frequency of the robot. You can compile/run without sudo rights by eliminating the following line from the CMakeLists.txt of the dumbo_hw_control_loop package:
add_custom_command(
TARGET ${PROJECT_NAME}
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/set_uid ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/${PROJECT_NAME} ${PROJECT_NAME})
dumbo_hardware_interface
This package contains the hardware interface to several of Dumbo's components:
- Schunk arms
- Schunk parallel gripper (PG70)
- Force-torque sensors
dumbo_hw_control_loop
This package contains the (soft) realtime control loop that has access to Dumbo's HW components described in the dumbo_hardware_interface package. Controllers can be dynamically loaded to the controller manager that runs in this loop.
This low-level control loop has been designed according to the ros_control specifications. Please look at the documentation of the ros_control package in the ROS wiki as well as the wiki in the package's github repository.
To run the hardware control loop, just do:
rosrun dumbo_hw_control_loop dumbo_hw_control_loop