application_on_robot.md

Application on the Robot

Connect to Robot

Follow the instructions provided here to connect to the Dingo.

Setup

Clone the repository including its submodules on the robot and follow the steps as provided here. This time select the core version.

Mobile Manipulator Control

Turn off default ros packages by clearpath

On robot outside the docker run

sudo systemctl stop ros.service

The lights on the front of the robot will become red.

Run controller

Adapt the export file to have the IP address of your robot.

On the robot start the docker:

cd docker
bash run

and run the controller:

. export
roslaunch launcher robot_control_interface.launch

On your laptop also start the docker and run:

. export
roslaunch launcher robot_user_interface.launch

This will run the guidance mode. To run the tracking mode we make use of an optical tracking system.

When switching between the control modes restart the user interface.

Interacting with the visualization tool

Start LLC as described in the simulation section. Turn on gravity compensation and friction compensation. Then select <arm> starts the impedance controller on the arm, <null> to turn on the nullspace controller, and <base> to turn on the base.

Top stop turn off LLC <Stop LCC Task>, <Stop LCC> and go into the preffered position <Pref> then esc. It is preffered to turn the robot off in high-leve control.

Helpful Information

If the arm reaches a joint limit, <stop LLC Task? and <stop LLC? and then press <clear?.