faridtavakol/ismr_dynamic_server

Clone the repository to your home folder

git clone --recurse-submodules https://github.com/FaridTavakol/ISMR_Dynamic_server.git

Build RBDL Library

Go to your cloned folder

cd ~/ISMR_Dynamics_server

Run the setup script

cd rbdl-orb/

sudo sh setup.sh

Copy the test_controller and ambf_control_system folders to the source directory of your catkin workspace

cd ~/ISMR_Dynamic_server

cp -r test_controller ~/catkin_ws/src

cp -r ambf_control_systems ~/catkin_ws/src

Go to your catkin workspace and build the new packages

cd ~/catkin_ws

catkin_make

Source setup.bash

source ~/catkin_ws/devel/setup.bash

Run ROS master

roscore

In another terminal run the RBDL Server Node

rosrun rbdl_server rbdl_server_node

In another terminal run the Controller Node

rosrun test_controller_pkg control_node

Run the custom robot file

cd ~/ambf/bin/ "yourOS" /

./ambf_simulator -a "location of the custom robot model.yaml"

Finally, run the gravity compensation node by providing the file with the location of your robot config file ("robot.yaml")

rosrun test_controller_pkg my_robot_gravity "Address to your robot.yaml file"