tms_rc_smartpal

Execute

Execute command

ssh [email protected] (9daiBox)
./start_omniNames 
rosrun tms_rc_smartpal_control smartpal5_control
or
rosrun tms_rc_smartpal_control smartpal4_control
rosrun tms_rc_smartpal_tts smartpal_tts

sp_control.srv

int8 unit       // unit of robot : Vehicle, ArmR, ArmL, GripperR, GripperL, Lumba, CC
int8 cmd        // command : clearAlarm, setPower, setServo, getpos, move, etc..
float64[] arg   // argument
---
int8 result     // return result
float64[] val   // return value

srv detailed instructions

• https://docs.google.com/spreadsheets/d/1Uk8oeA23eFo-7iyWdG7zEOSk0Jy0ZTVVgjWgOoQ7Nts/edit?usp=sharing

Control speed

• Vehicle 200
• Lumba 20
• Arm 50

Development

CORBA install

omniorb
omniorb-idl
omniorb-nameserver
libomniorb4-1
libomniorb4-dev

Edit bashrc and omniORB.cfg file

gedit ~/.bashrc

export LD_LIBRARY_PATH=/usr/include:/usr/include/omniORB4:$LD_LIBRARY_PATH
export OMNIORB_CONFIG=/etc/omniORB.cfg
export OMNIORB_USEHOSTNAME=192.168.4.201

sudo gedit /etc/omniORB.cfg

InitRef = NameService=corbaloc:iiop:192.168.4.201:5006/NameService

Make start_omniNames file

gedit ~/.start_omniNames

#!/bin/bash
rm ~/OmniORB_log/omninames-pyo.log
rm ~/OmniORB_log/omninames-pyo.bak
omniNames -start 5006 -logdir ~/OmniORB_log

Edit CMakeLists.txt

gedit CMakeLists.txt

target_link_libraries(smartpal5_control ${catkin_LIBRARIES} omniORB4 omnithread)

rosservice call /sp5_control 1 15 [100,100,0]

Use tts

rosservice call /smartpal5_tts "one two three four five"

calculate for moveCooperative function

下軸および上軸の目標位置θ 1 ，θ 2 は，上体目標角度をθとすると，

θ 1 = -θ/3

θ 2 = 4θ/3

で表される．