Robinion User Guide

Install Ubuntu and ROS

Robinion software framework used Ubuntu 20.04 with ROS Noetic Ninjemys. Ubuntu 20.04 and ROS Noetic Ninjemys installation guide refer to these links:

• https://help.ubuntu.com/lts/installation-guide/index.html
• http://wiki.ros.org/noetic/Installation/Ubuntu

It is highly recomended to install ros-noetic-desktop-full to run the Robinion software framework.

Install Ubuntu Packages

sudo apt update && sudo apt install -y git

Setup Virtual Environment

Robinion software framework was developed using Python version 3. We prefer conda virtual environment to use the framework. For creating conda virtual environment please follow this guide.

1. Install Anaconda

wget https://repo.anaconda.com/archive/Anaconda3-2020.07-Linux-x86_64.sh
chmod +x Anaconda3-2020.07-Linux-x86_64.sh
./Anaconda3-2020.07-Linux-x86_64.sh
source ~/.bashrc

2. Create Conda Virtual Environment

git clone https://github.com/EDGS-GIT/conda_environment.git
cd conda_environment
conda env create -f robinion-ros-env.yml

3. Post Installation

Set default conda environment

echo "conda activate ros" >> ~/.bashrc
source ~/.bashrc

Install Dependencies

1. PyKDL

PyKDL module is Python version of liborocos-kdl which used for calculating kinematics of the robot. We prefer build the PyKDL from the sources. Please follow this link for building the PyKDL module.

https://github.com/EDGS-GIT/python_orocos_kdl

Setup Robinion ROS Framework

Robinion Framework

mkdir ~/robinion_ws && cd ~/robinion_ws
git clone https://github.com/EDGS-GIT/Robinion-Framework.git
mv Robinion-Framework src

DynamixelSDK

cd ~/robinion_ws/src
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd DynamixelSDK 
git checkout noetic-devel

Robotis Framework

cd ~/robinion_ws/src
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework.git

Robotis Framework Msgs

cd ~/robinion_ws/src
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs.git

Robotis-Math

cd ~/robinion_ws/src
git clone https://github.com/ROBOTIS-GIT/ROBOTIS-Math.git

kdl_parser

cd ~/robinion_ws/src
wget https://github.com/ros/kdl_parser/archive/1.13.2.tar.gz
tar -xvzf 1.13.2.tar.gz
rm -rf 1.13.2.tar.gz

urdf_parser_py

cd ~/robinion_ws/src
wget https://github.com/ros/urdf_parser_py/archive/0.4.3.tar.gz
tar -xvzf 0.4.3.tar.gz
rm -rf 0.4.3.tar.gz

Add servo device

cd ~/robinion_ws/src/ROBOTIS-Framework/robotis_device/devices/dynamixel
cp XM540-W270.device XH540-W270.device

Compile Robinion Framework

cd ~/robinion_ws/src/robinion_manager
mkdir include
cd ~/robinion_ws/
catkin_make -j12
source devel/setup.bash

Testing Robinion Framework

Simulation Mode

1. Testing walking_control_module

Launch robinion_walking_module

roslaunch robinion_walking_module test_walking_module_gazebo.launch

Open Gazebo Client

gzclient

Publish topic to robinion_walking_module

Initialize

This command will make the robot go to initial pose

rostopic pub /robinion/walking_module/state robinion_msgs/WalkingState "state: 'init'"

Start Walking

This command will make the robot start walking (stepping in place)

rostopic pub /robinion/walking_module/state robinion_msgs/WalkingState "state: 'start'"

Send Walking Command

This command will make the robot walking forward. For changing direction, just change value of $cmd_x$, $cmd_y$, and $cmd_alpha$.

rostopic pub /robinion/walking_module/command robinion_msgs/WalkingCommand "cmd_x: 0.05
cmd_y: 0.0 
cmd_alpha: 0.0"

Stop Walking

This command will make the robot stop walking.

rostopic pub /robinion/walking_module/state robinion_msgs/WalkingState "state: 'stop'"

2. Testing motion_player_module

Example for calling initialize motion

rostopic pub /robinion/motion_player/play_motion/goal robinion_msgs/PlayMotionActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  motion_name: 'initialize'
  movement_time: 2.0"

Robot Mode

1. Testing walking_control_module

Launch robinion_manager

sudo su
roslaunch robinion_manager robinion_robot.launch

Launch walking_module

roslaunch robinion_walking_module test_walking_module_robot.launch