MYRAbot's arm model for simulation (urdf+gazebo) - Revision history

Fernando at 11:08, 29 September 2014

2014-09-29T11:08:51Z

Fernando at 11:35, 5 September 2014

2014-09-05T11:35:21Z

Fernando at 13:50, 3 September 2014

2014-09-03T13:50:46Z

Fernando at 07:46, 23 July 2014

2014-07-23T07:46:20Z

Fernando at 09:38, 8 July 2014

2014-07-08T09:38:46Z

Victorm at 09:34, 25 June 2014

2014-06-25T09:34:22Z

Fernando: /* Second control program (Grasp the tin) */

2014-06-10T21:59:07Z

‎Second control program (Grasp the tin)

Fernando: /* First control program (Come here) */

2014-06-10T21:58:41Z

‎First control program (Come here)

Fernando at 08:33, 9 June 2014

2014-06-09T08:33:13Z

Fernando at 10:48, 28 April 2014

2014-04-28T10:48:50Z

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
@@ Line 1,314: / Line 1,314: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

@@ Line 16: / Line 16: @@
 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 | valign="top" |
@@ Line 23: / Line 23: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}
@@ Line 1,309: / Line 1,310: @@
 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 | valign="top" |
@@ Line 1,316: / Line 1,317: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}

@@ Line 20: / Line 20: @@
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
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 | valign="top" |
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

@@ Line 21: / Line 21: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}
@@ Line 1,312: / Line 1,313: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]
@@ Line 1,311: / Line 1,311: @@
 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]

@@ Line 27: / Line 27: @@
-==Creation of URDF model==
+=Creation of URDF model=
 [http://wiki.ros.org/urdf/Tutorials URDF] (Unified Robot Description Format) is the format used to define the model of the [[MYRAbot's arm control (bioloid+arduino)|arm]] ([http://es.wikipedia.org/wiki/Extensible_Markup_Language xml]) in order to simulate it in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo]. It consists of a tree of geometrical elements (''links'') plugged through joints(''joints''). This joints can be fixed or mobile, the mobile joints can be rotating, linear or floating.
@@ Line 635: / Line 635: @@
 </syntaxhighlight>
-===Model analysis===
+==Model analysis==
 As we have used [http://wiki.ros.org/xacro xacro] in order to simplify and to make the code more editable, we will execute the next commands in a terminal in order to obtain the [http://wiki.ros.org/urdf/Tutorials URDF] file processed:
@@ Line 685: / Line 685: @@
 [[file:modelo_brazo_MYRAbot_arbol_relaciones.jpg|thumb|500px|center|Árbol de relaciones modelo URBF para el brazo del MYRAbot]]
-==Visual test of the model==
+=Visual test of the model=
 We will create a file named "brazo_rviz.launch" within the folder "launch" of our ''package'' with the content that is shown below in order to display the model and to check the ''joints'':
@@ Line 713: / Line 713: @@
 [[file:modelo_brazo_MYRAbot_rviz.png|thumb|500px|center|Loaded model in [http://wiki.ros.org/rviz rviz] and the [http://en.wikipedia.org/wiki/Graphical_user_interface GUI] of [http://wiki.ros.org/joint_state_publisher joint_state_publisher]]]
-==Control of the joints for simulation==
+=Control of the joints for simulation=
 We have to add a controller to each mobile joint in order to simulate the servo motors [http://support.robotis.com/en/product/dynamixel/ax_series/dxl_ax_actuator.htm Dynamixel AX-12A] in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo]
-===Previous steps===
+==Previous steps==
 We will execute the next commands in a terminal in order to install the control ''stacks'' of the [http://wiki.ros.org/Robots/PR2 PR2] robot ([http://wiki.ros.org/pr2_simulator?distro=electric pr2_simulator], [http://wiki.ros.org/pr2_mechanism pr2_mechanism] and [http://wiki.ros.org/pr2_controllers pr2_controllers):
@@ Line 726: / Line 726: @@
 </syntaxhighlight>
-===To add controllers to mobile joints===
+==To add controllers to mobile joints==
-====Modification of the URDF====
+===Modification of the URDF===
 We have to set the materials, properties, transmissions and controllers for our [http://wiki.ros.org/urdf/Tutorials URDF] model in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo].
@@ Line 855: / Line 855: @@
 </syntaxhighlight>
-====Creation of the configuration file====
+===Creation of the configuration file===
 We have used two [http://wiki.ros.org/robot_mechanism_controllers?distro=electric controllers] for each mobile joint, one for velocity control and one for position control. Each controller is a [http://es.wikipedia.org/wiki/Proporcional_integral_derivativo PID] regulator. We will create a file named "controllers.yaml" within our ''package'' with the content that is shown below in order to configure the [http://es.wikipedia.org/wiki/Proporcional_integral_derivativo PID] regulators of each mobile joint:
@@ Line 948: / Line 948: @@
 </syntaxhighlight>
-===Loading the model in gazebo===
+==Loading the model in gazebo==
 We will create a file named "brazo_gazebo.launch" within the folder "launch" of our ''package'' with the content that is shown below in order to start [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] and to load the model and the controllers:
@@ Line 1,026: / Line 1,026: @@
 </syntaxhighlight>
-===Interface program (gazebo-control programs)===
+==Interface program (gazebo-control programs)==
 We have created a program that communicates the [[MYRAbot's arm control (bioloid+arduino)#Control programs|arm's control programs]] with [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] controllers. We will create a file named "control_modelo.cpp" within the folder "src" of our ''package'' with the content that is shown below:
@@ Line 1,187: / Line 1,187: @@
 make</syntaxhighlight>
-==Simulation of control programs==
+=Simulation of control programs=
 First we have to add the next code line before the tag "</launch>" within the file "brazo_gazebo.launch" in order to launch the previous interface program:
@@ Line 1,197: / Line 1,197: @@
 </syntaxhighlight>
-===First control program (Come here)===
+==First control program (Come here)==
 We use the same [[MYRAbot's arm control (bioloid+arduino)#Third program (Came here)|control program]] that we had created for the real arm. First we will execute the next command in a terminal in order to launch the simulator with the arm model:
@@ Line 1,217: / Line 1,217: @@
 <center>[http://www.youtube.com/watch?v=S9kUKYysm0M Watch in YouTube]</center>
-===Second control program (Grasp the tin)===
+==Second control program (Grasp the tin)==
 First we will create a file named "lata.urdf" within the folder "urdf" of our ''package'' with the content that is shown below in order to create the tin model:

← Older revision		Revision as of 21:59, 10 June 2014
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	<center><videoflash>16aR8XXHnmw</videoflash></center>		<center><videoflash>16aR8XXHnmw</videoflash></center>

−	<center>[http://www.youtube.com/watch?v=16aR8XXHnmw ~~Ver vídeo en~~ YouTube]</center>	+	<center>[http://www.youtube.com/watch?v=16aR8XXHnmw Watch in YouTube]</center>

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 <center><videoflash>S9kUKYysm0M</videoflash></center>
-<center>[http://www.youtube.com/watch?v=S9kUKYysm0M Ver vídeo en YouTube]</center>
+<center>[http://www.youtube.com/watch?v=S9kUKYysm0M Watch in YouTube]</center>
 ===Second control program (Grasp the tin)===

@@ Line 3: / Line 3: @@
 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[Objects recognition and position calculation (webcam)]]<br/>
@@ Line 11: / Line 17: @@
 [[Voice control (sphinx+festival)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
@@ Line 1,281: / Line 1,294: @@
 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[Objects recognition and position calculation (webcam)]]<br/>
@@ Line 1,289: / Line 1,308: @@
 [[Voice control (sphinx+festival)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
 [[Mobile manipulation | < go back to main]]