Controller_architecture for robots

OS

• The code is tested on Ubuntu 22

Dependencies

• rdflib
• kdl_parser
• orocos_kinematics_dynamics
• StringTemplate

Setup

Step 1

• clone the repository to a workspace

  mkdir -p ~/ctr_arch_ws/src && cd ~/ctr_arch_ws/src
  
  git clone https://github.com/RoboticsCosmos/controller_architecture.git

Step 2

• Install the dependencies: kdl_parser, yaml-cpp, rdflib

  sudo apt-get install libkdl-parser-dev libyaml-cpp-dev
  pip install rdflib

• clone and install StringTeplate in the src/controller_architecture/ path using https://github.com/antlr/stringtemplate4/tree/master

Usage

Use Case 1

• Run the following commands from the src/controller_architecture/ path

  cd synthesis/
  python runner_uc1.py
  
  cd ../code_generator
  make uc1 > ../gen/generated_code.cpp
  

Use Case 2 - PID

• Run the following commands from the src/controller_architecture/ path

  cd synthesis/
  python runner_uc2_pid.py
  
  cd ../code_generator
  make uc2_pid > ../gen/generated_code.cpp
  

Use Case 2 - ABAG

• Run the following commands from the src/controller_architecture/ path

  cd synthesis/
  python runner_uc2_abag.py
  
  cd ../code_generator
  make uc2_abag > ../gen/generated_code.cpp
  

executing generated code

• Compile the workspace (from the src/controller_architecture/ path)

  cmake -Bbuild .
  

• Build the workspace (from the src/controller_architecture/ path)

  cmake --build build
  
  

• Execute the generated code (from the src/controller_architecture/ path)

  ./build/gen/generated_code_binary