DYROS TOCABI CONTROLLER

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DEPRECATED Currently using dyros_tocabi_v2

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Building

Prerequisites

0. All-in-one Prerequisites installer

After clone dyros_tocabi to catkin_ws/src,

cd dyros_tocabi
./install_prereq.sh

And Everything except dyros_cc & mujoco_ros_sim are installed! After executing install_prereq.sh, git clone dyros_cc & mujoco_ros_sim to your catkin_ws/src

1. mscl installation

• download MSCL

wget https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl_52.2.1_amd64.deb
sudo dpkg -i c++-mscl_52.2.1_amd64.deb

2. SOEM installation

git clone https://github.com/saga0619/SOEM
cd SOEM
mkdir build
cd build
cmake ..
make all
sudo make install

3. RBDL installation

git clone https://github.com/saga0619/rbdl-orb
cd rbdl-orb
mkdir build
cd build
cmake ..
make all
sudo make install

• If controller can't find librbdl.so.2.6.0, Add following line to .bashrc

echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib'>>~/.bashrc
sudo ldconfig

4. qpOASES installation

git clone https://github.com/saga0619/qpoases
cd qpoases
mkdir build
cd build
cmake ..
make all
sudo make install

5. Kvaser installation

wget --content-disposition "https://www.kvaser.com/download/?utm_source=software&utm_ean=7330130980754&utm_status=latest"
tar xvzf linuxcan.tar.gz
cd linuxcan
make all
sudo make install

6. GSL installation

wget http://mirror.yongbok.net/gnu/gsl/gsl-2.6.tar.gz
tar xvzf gsl-2.6.tar.gz
cd gsl-2.6
./configure
make
sudo make install

Tocabi Controller installation

Git clone https://github.com/saga0619/dyros_cc , https://github.com/saga0619/mujoco_ros_sim

cd ~/catkin_ws/src/
git clone https://github.com/saga0619/dyros_cc
git clone https://github.com/saga0619/mujoco_ros_sim
git clone https://github.com/saga0619/dyros_tocabi
cd ~/catkin_ws/
catkin_make

How to launch

Simulation Mode

roslaunch tocabi_controller simulation.launch

Realrobot Mode

roslaunch tocabi_controller realrobot.launch

Launch GUI alone

rosrun tocabi_gui tocabi_gui

Monitor Tocabi Status from controller with RViz

roslaunch tocabi_description display.launch

Monitor Tocabi Status from joint publisher with RViz

roslaunch tocabi_description display_with_joint_pub.launch