QB Robotics qbmove Advanced Kit, Руководство пользователя

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28 aprile 2021
IMPORTANT
It is worth noticing that the Catkin Workspace is expected to be already
initialized. If you have never used ROS on your current machine, you should
follow this guide first:
http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
2. Compile the packages using
catkin
:
cd ~/catkin_ws
catkin_make
3. If you were not familiar with ROS you should be happy now: everything is done!
Nonetheless, if you encounter some troubles during the compilation, feel free to ask
for support on
our Bitbucket .
IMPORTANT
Depending on your ROS installation, you may need some extra packages to
properly compile the code. Please, be sure that you have already installed
at least ros-kinetic-ros-controllers, ros-kinetic-transmission-interface, ros-
kinetic-joint-limits-interface, ros-kinetic-combined-robot-hw, ros-kinetic-
trac-ik-kinematics-plugin and their dependencies (e.g. use sudo apt install
<ros-pkg>).
6.5.1.4 Device setup
Connecting a qbmove to your system is basically a matter of plugging in a USB cable.
Nonetheless, read carefully this manual to understand all the requirements and advices about
either single-device or chained configurations, e.g. the Delta kinematic structure of this manual.
6.5.2 Usage
As shown in the following picture there are two distinct configurations to control several
qbrobotics devices connected to the system:
•
The first (and recommended) groups all the Hardware Interfaces together (thanks to
the
combined_robot_hw ) and exploits them as a unique robot system. We have called
it "synchronous" just to point out that every sequence of reads and writes is always
done in the same predefined order.
•
The second mode threats every device as an independent Hardware Interface with its
dedicated ROS Node which executes the control loop independently w.r.t. the rest of
the system, i.e.
"asynchronously" .