This project provides ros control hierarchy for roboy (v2.0) hardware, i.e. myoMuscles controlled via ganglia on flexraybus. If you have any questions feel free to contact one of the rosifying team members.

For detailed description of installation see here

#!bash
sudo apt-get install ros-indigo-desktop-full
sudo apt-get install ros-indigo-controller-interface ros-indigo-controller-manager ros-indigo-control-toolbox

#!bash
sudo apt-get install libncurses5-dev 

#!bash
sudo apt-get install doxygen

The project also depends on the flexrayusbinterface and common_utilities. The repos can be cloned with the folowing commands, where the submodule commands attempt to pull the flexrayusbinterface and common_utilities.

#!bash
git clone https://github.com/Roboy/ros_control
cd ros_control
git submodule init
git submodule update

NOTE: Please follow the installation instructions for flexrayusbinterface before proceeding. Then you can build with:

#!bash
cd path/to/ros_control
catkin_make

If the build fails, this is because ros cannot find the headers. You need to source the setup.bash. Use the following commands to add this to your bashrc.

#!bash
cd path/to/ros_control
echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
catkin_make

#!bash

cd path/to/ros_control
source devel/setup.bash
roslaunch myo_master roboy.launch

The roboy.launch file loads 24 motors with corresponding joint controllers onto the ros parameter server. The program is the waiting for a motor initialize request. This will typically come from the GUI.

In general, we tried to make the whole system also controllable from the commandline or any other ros node via ROS services and ROS topics

#!bash
rosservice list

This should output (among possibly others) these services:

#!bash
/roboy/initialize
/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/switch_controller
/controller_manager/unload_controller

The following command will request motors to be initialized via the /robo/initialize service:

#!bash
rosservice call /roboy/initialize [PRESS TAB TWICE]

All services starting with the trailing /roboy give you access to the full functionality of our control hierarchy. You have probably already used the initialize service. Pressing tab twice after the service will tab complete to the valid service message. If this does not work, ROS probably does not know about the services yet. Try sourceing the setup.bash (bear in mind, that you have to do that for every terminal you open, unless of course you add the source command to your ~/.bashrc).:

#!bash
source devel/setup.bash

Fill out the values as needed (should be self-explanatory).

If you have initialized motors already, the rosservice list command will be augmented by new services for each motor:

#!bash
/roboy/trajectory_motor0
/roboy/trajectory_motor1
/roboy/trajectory_motor3

Calling the trajectory service will request a trajectory, e.g. like this:

#!bash
rosservice call /roboy/trajectory_motor0 [PRESS TAB TWICE]

If you call for the controller types:

#!bash

rosservice call /controller_manager/list_controller_types

This should show our custom controller plugin:

#!bash
types: ['roboy_controller/Position_controller']
base_classes: ['controller_interface::ControllerBase']

The status of the controller can be queried via:

#!bash
rosservice call /controller_manager/list_controllers

This should show the stopped controllers, together with the resources they have been assigned to

#!bash
controller: 
  - 
    name: motor0
    state: stopped
    type: roboy_controller/PositionController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['motor0']
  - 
    name: motor1
    state: stopped
    type: roboy_controller/VelocityController
    hardware_interface: hardware_interface::VelocityJointInterface
    resources: ['motor1']
  - 
    name: motor3
    state: stopped
    type: roboy_controller/ForceController
    hardware_interface: hardware_interface::EffortJointInterface
    resources: ['motor3']

please follow instructions in flexrayusbinterface, concerning library installation and udev rule.

Generate a doxygen documentation using the following command:

#!bash
cd path/to/ros_control
doxygen Doxyfile

The documentation is put into the doc folder.