hedada-hc / khr3hv

Library (based on libkondo4) to control the Kondo KHR-3HV robot.

Kondo-Robot library

This repo is based on the libkondo4 C library (by Christopher Vo) to control the Kondo RCB-4 servo controller board using the ICS 3.0 protocol. The servos KRS-2552RHV feature the ICS-3 interface making them compatible with serial or PWM communication.

In this repo, we extend the previous work by including/providing:

• CMakeLists (instead of Makefiles)
• Documentations (how to assemble the Kondo KHR-3HV robot, joint IDs, joint limits,...)
• Python wrappers (using Cython)
• Sample codes to run different motions
• ROS nodes (todo)
• Code that interfaces with sensors (such as camera, IMU, microphone,...) that are connected with the Raspi 3

Here is a youtube video showing predefined motions that can be run on the Kondo KHR-3HV robot using the Python code: video

Here is another video showing the possibility to run the Python code on a Raspi3 and controlling the servo-motors of the Kondo KHR-3HV robot: video

Prerequisites

• An Ubuntu system (tested on Ubuntu 16.04, and on Ubuntu Mate 16.04 on a Raspi3) or MacOSX.
• The ftdi library to communicate via usb to the board

On Linux:

$ sudo apt-get install libftdi-dev

On MacOSX (with Homebrew):

$ brew install libftdi

How to use it?

• Compiling the C++ code Compared to the original library, we created CMakeLists files to compile the code. In a terminal, type the following lines:

$ mkdir build
$ cd build
$ cmake ..
$ make

• Compiling the Cython code

$ cd cython
$ python setup.py build_ext --inplace

You can now run one of the python code such as:

$ sudo python move.py

Troubleshooting

• ImportError: dynamic module does not define init function (init_pykondo) This is probably due to compiling the library with a specific version of Python, and trying to launch the code with another version. By default, in the CMakeLists, it is looking for python 2.7 (see the cmake command find_package(PythonLibs 2.7)). If you are using another version, please update accordingly the appropriate cmake line.

• ERROR: kondo_ftdi_error device not found Make sure that the robot is turned on and its USB cable correctly connected to the computer (or Raspi).

• permission denied You have to use sudo when running the code.

TODO

• add URDF file for kondo KHR-3HV (probably will have to translate the proto file from webots)
• add ROS nodes to publish sensory and joint informations, and advertise topics.
• use kinematics and dynamics library
• write Python wrapper for the IMU
• (C++/Python) code to use the camera, IMU, microphone,... on the Raspi 3 or Jetson Nano