Orocos_Cogimon_Ros_Interface

This repository provides an interface to communicate with Coman in the gazebo/Orocos environment by using Ros topics. Fethures of this commit: 1- Controlling dual robotic arm. 2- Controlling the position of an object.

If you want to control Coman, you can checkout this.

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Requirements:

OS: Ubuntu 14.04 or 16.04 ROS compatibility: Indigo, Kinetic

Dependencies
Orocos-ROS integration
CoSimA-environment
CoSimA-utilities

Set-up:

As the Orocos-Ros integration package is completely dependent on the CoSimA enviroment, hence, we need to make sure that both packages are installed correctly and they are fully functional. Let's assume that the Coman-enviroment package is installed here:

/opt/cogimon

and the Orocos-Ros integration package is installed here:

/home/joshua/catkin_ws/src

and

/home/joshua/ws/underlay_isolated

You need to install ros_orocos interfaec aqs follow:

export OROCOS_TARGET=xenomai
mkdir -p ~/ws/underlay_isolated/src/orocos
cd ~/ws/underlay_isolated
git clone --recursive https://github.com/orocos-toolchain/orocos_toolchain.git src/orocos/orocos_toolchain
catkin_make_isolated --install
source install_isolated/setup.sh
cd ~/catkin_ws
git clone https://github.com/orocos/rtt_ros_integration.git src/rtt_ros_integration
catkin_make
source devel/setup.sh

you need to at first compile rtt_ros_integration alone and then toghther with other packages!

open the '.bashrc' and add the following lines:

source /opt/ros/kinetic/setup.bash
export OROCOS_TARGET=xenomai # OROCOS_TARGET=gnulinux if you are not using the realtime kernel
source /opt/cogimon/cogimon-minimal-nightly/bin/setup-cogimon-env.sh
source /home/joshua/ws/underlay_isolated/install_isolated/setup.bash
source /home/joshua/catkin_ws/devel/setup.bash
export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/opt/cogimon/cogimon-minimal-nightly/lib/orocos

If both packages are installed correctly, their examples should run without any problem.

Run:

1- In Terminal 1:

roscore

2- In Terminal 2:

rsb0.14 server

3- In Terminal 3

deployer-xenomai -s /home/joshua/catkin_ws/src/Orocos_Cogimon_Ros_Interface/Integration_IJRR.ops

Important Note: There are some lines in Integration_IJRR.ops which need to be changed.

4- In Terminal 4

gzclient

Test:

In Terminal 5

rostopic list 

should result in

/KUKA/Left/Dq/out
/KUKA/Left/T/out
/KUKA/Left/in
/KUKA/Left/q/out
/KUKA/Right/Dq/out
/KUKA/Right/T/out
/KUKA/Right/in
/KUKA/Right/q/out
/Object/Pos/out
/Object/Position/in
/Object/Vel/out
/rosout
/rosout_agg