dlandry97/op3_noetic_project

This is a test-bed for tracking and recording data about the Robotis_op3 as it walks during experiments

OP3_walking_testbed

This is a guide to update the Robotis OP3 robot to ROS Noetic.

Clonezilla (NU)

Import the clonezilla image from the provided USB.

First power down the robot and insert the USB stick wit hthe clonezilla image. Use one of the provided USB B slots for this. Also have a keyboard on hand and connected to the robot.

Power on the robot and press F10 until the boot menu appears. Select the USB drive that you inserted.

Clonezilla should start.

Follow the default setup and select image-disk.

Continue following the promps until it asks for the image you want to clone. Select one of the images with Noetic in the name.

Follow the rest of the prompts. The cloneing process should take around 10-20 minutes. The robot should reboot or shut down.

Safely store the USB.

Repository import

Create your workspace, mkdir src, and cd src/

Place the OP3_Noetic.repos file into src/

use command vcs import < OP3_Noetic.repos

This will import all of the required repositories to run the robot in ROS Noetic.

From here you can cd back into your workspace and catkin_make to build the packages.

Running the demo

To run the demo on the robot First soruce your workspace using source devel/setup.bash

then run the command roslaunch op3_demo demo.launch

demo GUI

To run the demo gui, After launching the demo, in a new sourced terminal run roslaunch op3_gui_demo op3_demo.launch

This will give you a GUI that you can run walking demos and other actions.

More in depth documentation on this can be found at https://emanual.robotis.com/docs/en/platform/op3/tutorials/#how-to-execute-gui-program

Action editor

To create and test new actions for the OP3, you can run the action editior using the command roslaunch op3_action_editor op3_action_editor.launch

Note: This is meant to be launched alone without any ROS nodes running.

This will open up the action editor software where you can create new actions. This is where I created the Human-walking gaits.

More information on the action editor can be found at https://emanual.robotis.com/docs/en/platform/op3/tutorials/#how-to-execute-gui-program

Device permissions

If you are using a fresh OS and Noetic build, you will need to set the device permissions for the dynamixels and camera.

This involves adding profiles to the permission groups.

To do this you will need to run these commands:

sudo usermod -a -G dialout op3

sudo usermod -a -G video op3

sudo bash -c 'echo "@op3 - rtprio 99" > /etc/security/limits.d/op3-rtprio.conf'

Tracking the X and Y displacement using Apriltags

This package is used as a testbed for tracking the X and Y displacements of the robot for the RoboToe project.

To begin, connect an Intel RealSense d435i to your computer. Source this workspace and run the command roslaunch testbed intel_cam.launch

The two main services you will need to use are the plot and reset_plot services.

The position of the Apriltags will be constantly be tracked and recorded when they are in view.

Use the reset_plot service with the command rosservice call /reset_plot to clear the recorded data.

Use the plot service with the command rosservice call /plot <plot_name> to create a csv file with the name <plot_name> that has the x, y, and z displacement of the Apriltag over all time since you've last run the reset_plot service.

The CSV file will appear in the plots/ folder.