Orocos_Cogimon_Ros_Interface

This repository provides an interface to communicate with Coman in the gazebo/Orocos environment by using Ros topics.

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Requirements:

OS: Ubuntu 14.04 ROS compatibility: Indigo

Dependencies
Orocos-ROS integration
Coman-environment

Set-up:

As the Orocos-Ros integration package is completely independent from the Coman-cogimon enviroment, 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:

/vol/cogimon/

and the Orocos-Ros integration package is installed here:

/home/sina/Dropbox/Sinas_stuff/catkin_ws/underlay

and

/home/sina/ws/underlay_isolate

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

source /opt/ros/indigo/setup.bash
export OROCOS_TARGET=gnulinux
source /vol/cogimon/cogimon-minimal-nightly/bin/setup-cogimon-env.sh
export prefix=/vol/cogimon
source /home/sina/ws/underlay_isolated/install_isolated/setup.sh
source /home/sina/Dropbox/Sinas_stuff/catkin_ws/underlay/devel/setup.sh
export RTT_COMPONENT_PATH=$RTT_COMPONENT_PATH:/vol/cogimon/cogimon-minimal-nightly/lib/orocos

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

Examples
Orocos-ROS integration
Coman-environment

Run:

1- In Terminal 1:

roscore

2- In Terminal 2:

rsb0.14 server

3- In Terminal 3

deployer-gnulinux -s /home/sina/Dropbox/Sinas_stuff/catkin_ws/underlay/src/Orocos_Cogimon_Ros_Interface/test_orocos.ops

4- In Terminal 4

gzclient

Test:

In Terminal 5

rostopic list 

should result in

/Coman/Left/Dq/out (The left arm measured velocity) (Published by the interface)
/Coman/Left/T/out  (The left arm measured torque) (Published by the interface)
/Coman/Left/q/out  (The left arm measured position) (Published by the interface)
/Coman/Right/Dq/out(The right arm measured velocity) (Published by the interface)
/Coman/Right/T/out (The right arm measured torque) (Published by the interface)
/Coman/Right/q/out (The right arm measured position) (Published by the interface)
/Coman/Right/in    (The right arm desired position) (Subscribed by the interface)
/Coman/Left/in     (The left arm desired position) (Subscribed by the interface)
/rosout
/rosout_agg

To test the simulation in ** position control** mode do the following:

rostopic pub /Coman/Right/in std_msgs/Float64MultiArray '{data:[00.5,0,0,0,0,0,0]}'

or

rostopic pub /Coman/Left/in std_msgs/Float64MultiArray '{data:[00.5,0,0,0,0,0,0]}'