11.11-使用CytonGamma

cyton gamma

前言

• 要操纵机械臂，学习一下基本知识

参考

cyton_actin_ros_driver

学习记录

设置波特率（必要时）

sudo stty -F /dev/ttyS0 9600
sudo stty -F /dev/ttyS0 -a

cytonviwer安装

从USB插上机械臂才能够进行实验

cd ~/ProgramFile/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/bin/
sudo chmod 777 /dev/ttyUSB0
sudo chmod 777 /dev/ttyUSB1
sudo chmod 777 /dev/ttyUSB2
sudo chmod 777 /dev/ttyUSB3
sudo usermod -a -G dialout zs
./cytonViewer

This application failed to start because it could not find or load the Qt platform plugin "xcb".

• 搞了半天没解决，换台电脑试试。
• 换台电脑也一样，需要设置环境变量

export LD_LIBRARY_PATH="/home/zs/catkin_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/lib"
export LD_LIBRARY_PATH="/home/zs/Downloads/TestingPackages/sim_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/lib"

ros包安装

git clone https://git.lcsr.jhu.edu/ggarime1/cyton_actin_ros_driver.git
cd ./cyton_actin_ros_driver
./cyton_installer.sh
y
y
catkin_make

Viwer 使用

cd '/home/zs/Downloads/TestingPackages/sim_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/bin'
./.cytonViewer

• Think of this dragger frame as the desired position of the active end effector of the model. You can move the position and orientation of the dragger by clicking and dragging the mouse. Dragging with the left mouse button changes the translation of the dragger. Dragging with the right mouse button changes the orientation. Scrolling the mouse wheel moves the dragger towards and away from the screen. Holding the x key will constrain the movement to the x axis of the viewer plane, and y will constrain the movement to the y axis of the viewer plane. The robot model will not try and move unless the simulation is running. Run the simulation by clicking play and the robot should follow the guide frame.

ROS包构建

# CMakeLists.txt
# find_package(Boost REQUIRED COMPONENTS thread iostreams-mt filesystem-mt program_options-mt system-mt date_time-mt)
find_package(Boost REQUIRED COMPONENTS thread iostreams filesystem program_options system date_time)

# CytonConfig.cmake
# Make sure we can find the Actin distribution
set(CYTON_ROOT_DIR ${PROJECT_SOURCE_DIR}/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307)

set(toolkits ${CYTON_ROOT_DIR}/toolkits)
set(external ${CYTON_ROOT_DIR}/external)

set(src ${toolkits}/examples/src)
# set(render_inc "${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/include" "${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/include")
# set(render_lib  "${external}/sensor_OSS-20150520-gcc4.8-amd64/OpenCV-2.4.10/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/tiff-3.9.7/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/libdc1394-2.1.0/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/libraw1394-2.0.2/lib" ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/lib ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/lib)
# set(qt_moc_path "${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/bin")

# Set directory to include headers
set(CYTON_INCLUDE_DIRS ${CYTON_ROOT_DIR}/include)

set(CYTON_RENDER_INCLUDE_DIRS ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/include ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/include)

# Set directory to library files.
set(CYTON_LIBRARY_DIRS ${CYTON_ROOT_DIR}/lib ${CYTON_ROOT_DIR}/bin)

set(CYTON_RENDER_LIBRARY_DIRS ${external}/sensor_OSS-20150520-gcc4.8-amd64/OpenCV-2.4.10/lib ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/lib ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/lib ${external}/sensor_OSS-20150520-gcc4.8-amd64/tiff-3.9.7/lib ${external}/sensor_OSS-20150520-gcc4.8-amd64/libjpeg9a/lib)

# set(qt_lib Qt5Core Qt5Gui Qt5Widgets)
# set(osg_lib osg)

# CYTON DEFINITIONS:
set(CYTON_DEFINITIONS -DEC_BUILD_SHARED_LIBS
                      -DEC_HAVE_ACTIN     
                      -DUNICODE
                      -D_UNICODE
                      "-DACTIN_VERSION_MAJOR=4"
                      "-DACTIN_VERSION_MINOR=0"
                      "-DACTIN_VERSION_PATCH=12"
                      "-DACTIN_VERSION="4.0.12"")

########CYTON CONFIGURATION###########
#Can remove some libraries based on application
 set(CYTON_LIBRARIES
      ecConvertSimulation
      ecCytonHardwareInterface
      ecSystemSimulation
      ecSimulation
      ecConvertSystem
      ecRendCore
      ecVisualization
      ecFoundCommon
      ecFoundCore
      ecXml
      ecXmlReaderWriter
      ecManipulation
      ecManipulationDirector
      ecManipulator
      ecGeometry
      ecControl
      ecPathPlanning
      ecMatrixUtilities
      ecControlCore
      ecFunction
      ecPlugins
      ecRemoteCommand
)

• 下载cyton_gamma_1500_description
• 接下来catkin_make